Commit 9e468637 authored by Rousseau Vincent's avatar Rousseau Vincent
Browse files

Add stream node

parents
cmake_minimum_required(VERSION 2.8.3)
project(labjack_driver)
set(${PROJECT_NAME}_CATKIN_DEPS rospy std_msgs)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS ${${PROJECT_NAME}_CATKIN_DEPS})
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES labjack_driver
CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS}
# DEPENDS system_lib
)
###########
## Build ##
###########
include_directories(
include ${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(labjack_driver
# src/${PROJECT_NAME}/labjack_driver.cpp
# )
## Declare a C++ executable
# add_executable(labjack_driver_node src/labjack_driver_node.cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(labjack_driver_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS labjack_driver labjack_driver_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_labjack_driver.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
Any contribution that you make to this repository will
be under the Apache 2 License, as dictated by that
[license](http://www.apache.org/licenses/LICENSE-2.0.html):
~~~
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
~~~
FROM ros:kinetic-ros-core
# install ros tutorials packages
RUN apt-get update && apt-get install -y \
ros-kinetic-rosbridge-suite \
python-smbus python-pip \
&& rm -rf /var/lib/apt/lists/
RUN pip install LabJackPython
COPY . /app
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# Install dependencies
## exodriver
`git clone git://github.com/labjack/exodriver.git`
`cd exodriver/`
`sudo ./install.sh`
## LabJackPython
`sudo pip install LabJackPython`
version: '2'
services:
labjack:
build: .
depends_on:
- web-bridge
command: python /app/scripts/stream_node.py
network_mode: "host"
restart: on-failure
web-bridge:
build: .
command: roslaunch rosbridge_server rosbridge_websocket.launch
network_mode: "host"
restart: on-failure
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2">
<name>labjack_driver</name>
<version>0.1.0</version>
<description>
labjack_driver description
</description>
<maintainer email="vincent.rousseau@irstea.fr">Vincent Rousseau</maintainer>
<license>Apache License 2.0</license>
<author email="vincent.rousseau@irstea.fr">Vincent Rousseau</author>
<buildtool_depend>catkin</buildtool_depend>
<depend>rospy</depend>
<depend>std_msgs</depend>
</package>
# Copyright 2018 Irstea
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import rospy
from std_msgs.msg import Float32
import ue9
class Labjack(object):
def __init__(self, channel, resolution=16, scan_freq=150):
self.channel_name = "AIN"+channel
self.d = ue9.UE9()
self.d.getCalibrationData()
self.d.streamConfig(
NumChannels=1,
ChannelNumbers=[channel],
Resolution=resolution,
ScanFrequency=scan_freq)
if self.d is None:
return
self.d.streamStart()
# Anonymous topic ?
self.pub = rospy.Publisher('chatter', Float32, queue_size=10)
timer_period = 0.01 # in second
self.timer = rospy.Timer(rospy.Duration(timer_period), self.timer_callback)
rospy.spin()
def timer_callback(self, event):
msg = Float32()
# Conversion in milli volt for gain 1
for data in self.d.streamData():
if data is not None:
msg.data = sum(data[self.channel_name])/len(data[self.channel_name])
rospy.loginfo('Publishing: "{0}"'.format(msg.data))
self.pub.publish(msg)
def main(args=None):
rospy.init_node('labjack', anonymous=True)
node = Labjack(1)
if __name__ == '__main__':
main()
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