Merge pull request #61 from mROS-base/readme

Improve README for custom MsgType

.gitignore

@@ -21,5 +21,7 @@ gen/
 .settings/
 *.launch
 
-# generated header files of custom msgs
-mros2_msgs/
+# generated file for template functions in mros2-lib
+# https://github.com/mROS-base/mros2/blob/9ebc66cbc50f31d332c7d990b7f5bb478d0f35b5/src/mros2.cpp#L281
+header_includer/header_includer.hpp
+

README.md

@@ -31,10 +31,12 @@ Please also check [mros2 repository](https://github.com/mROS-base/mros2) for mor
     - You can also connect the network with the board through the router when you can set the IP and Netmask as the above.
     - The IP address of the board will be assigned to `192.168.11.2`. If you want to change the IP settings, you need to modify [src/config/lwip.c](https://github.com/mROS-base/mros2-asp3-f767zi/blob/main/src/config/lwip.c#L69-L80) and [embeddedRTPS/include/rtps/config.h](https://github.com/mROS-base/embeddedRTPS/blob/mros2/include/rtps/config.h#L37) as you want.
 
-## Usage
+## Quickstart
 
 This section explains how to build and execute mROS 2 with TOPPERS/ASP3 kernel, using `echoback_reply` application as an example.
 
+This example only uses a built-in-type (`string` a.k.a `std_msgs::msg::String`), so you can skip the generation of header files for custom msg types. Please see [Generating header files for custom MsgTypes](#generating-header-files-for-custom-msgtypes) for more detail.
+
 ### Build for mROS 2 app
 
 First of all, clone this repository. Note that **--recursive** is mandatory.
@@ -43,7 +45,7 @@ First of all, clone this repository. Note that **--recursive** is mandatory.
 $ git clone --recursive https://github.com/mROS-base/mros2-asp3-f767zi
 ```
 
-Move to workspace and operate `make` with the target app name (please see [workspace/README.md](workspace/README.md) for another examples).
+Move to workspace and operate `make` with the target app name (please see [workspace/](workspace/) for another examples).
 
 ```
 $ cd mros2-asp3-f767zi
@@ -103,12 +105,12 @@ mROS 2 initialization is completed
 ready to pub/sub message
 [MROS2LIB] Initilizing Domain complete
 ```
-  
+
 2. Launch ROS 2 nodes on the host on another terminal.
 ```
 $ cd <your_ros2_ws>
 $ source install/local_setup.bash
-$ ros2 launch mros2_echoback_string launch_pubsub.py 
+$ ros2 launch mros2_echoback_string pubsub.launch.py
 [INFO] [launch]: Default logging verbosity is set to INFO
 [INFO] [pub_node-1]: process started with pid [21232]
 [INFO] [sub_node-2]: process started with pid [21233]
@@ -146,7 +148,96 @@ We need to start up the mROS 2 node at first, and then operate ROS 2 nodes on th
 
 ## Example applications
 
-Please see [workspace](workspace/) for example applications.
+Please see [workspace/](workspace/) for example applications.
+
+## Generating header files for custom MsgTypes
+
+You can use almost any [built-in-types in ROS 2](https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html#field-types) on the embedded device.
+
+In additon, you can define a customized message type (e.g., `Twist.msg`) in the same way as in ROS 2, and use its header file for your application. This section describes how to generate header files for your own MsgTypes (`geometry_msgs::msg::Twist` as an example).
+
+### Prepare .msg files
+
+`.msg` files are simple text files that describe the fields of a ROS message (see [About ROS 2 interface](https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html)). In mros2, they are used to generate header files for messages in embedded applications.
+
+Prepare `Twist.msg` file and make sure it is in `workspace/custom_msgs/geometry_msgs/msg/`.
+
+```
+$ cat workspace/custom_msgs/geometry_msgs/msg/Twist.msg
+geometry_msgs/msg/Vector3 linear
+geometry_msgs/msg/Vector3 angular
+```
+
+In this example, `Twist` has a nested structure with `Vector3` as a child element. So you also need to prepare its file.
+
+```
+$ cat workspace/custom_msgs/geometry_msgs/msg/Vector3.msg
+float64 x
+float64 y
+float64 z
+```
+
+### Prepare msg_settings.json files
+
+Next, create or edit `msg_settings.json` file under `workspace/custom_msgs/geometry_msgs/` directory. In general, you need to set all paths to `pubsubMsgs`'s value about each .msg files which you want to use. Note that you do not need to add additional paths in this example since `Vector3` will be located in the same hierarchy as `Twist`.
+
+```
+$ cat workspace/custom_msgs/geometry_msgs/msg_settings.json
+{
+    "pubsubMsgs": [
+        "geometry_msgs/msg/Twist.msg"
+    ]
+}
+```
+
+### Generate header files
+
+To generate header files for `Twist` and `Vector3`, do `make gen-msg msg=geometry_msgs` in `workspace/`.
+
+```
+$ cd workspace
+$ make gen-msg msg=geometry_msgs
+msg file for geometry_msgs generated in custom_msgs/geometry_msgs
+```
+
+Make sure header files for custom MsgType are generated in `../mros2_msgs/`
+
+```
+$ ls -R ../mros2_msgs/
+../mros2_msgs/:
+geometry_msgs
+
+../mros2_msgs/geometry_msgs:
+msg
+
+../mros2_msgs/geometry_msgs/msg:
+twist.hpp  vector3.hpp
+```
+
+You can now use them in your applicaton like this.
+
+```
+#include "mros2.hpp"
+#include "geometry_msgs/msg/vector3.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+
+int main(int argc, char * argv[])
+{
+<snip.>
+  pub = node.create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 10);
+<snip.>
+```
+
+## Configure the network
+
+There are two files for network configulation.
+
+- [src/startup/include/lwipots.h](https://github.com/mROS-base/mros2-asp3-f767zi/blob/main/src/startup/include/lwipopts.h) for lwIP
+- [src/config/rtps/config.h](https://github.com/mROS-base/mros2-asp3-f767zi/blob/main/src/config/rtps/config.h) for embeddedRTPS
+
+Currently, we are unable to communicate large size of messages probably due to these configurations. We should seek the appropreate configurations or how to fit them to the demand of applications.
+
+Please let us know about this if you have any opinions or awesome knowledges! #60 
 
 ## Tips 1: Execute host nodes with Docker environment
 
@@ -192,7 +283,8 @@ Building, flashing and debugging the application can be done with simple operati
 
 ## Submodules and Licenses
 
-The source code of this repository itself is published under [Apache License 2.0](https://github.com/mROS-base/mros2/blob/main/LICENSE).  
+The source code of this repository itself is published under [Apache License 2.0](https://github.com/mROS-base/mros2/blob/main/LICENSE).
+
 Please note that this repository contains the following stacks as the submodules, and also check their Licenses.
 
 - [mros2](https://github.com/mROS-base/mros2): the pub/sub APIs compatible with ROS 2 Rclcpp

header_includer/header_includer.hpp

@@ -0,0 +1 @@
+#include "../workspace/sub_pose/templates.hpp"

mros2_msgs/geometry_msgs/msg/point.hpp

@@ -0,0 +1,176 @@
+#ifndef _GEOMETRY_MSGS_MSG_POINT_H
+#define _GEOMETRY_MSGS_MSG_POINT_H
+
+#include <iostream>
+#include <string>
+
+using namespace std;
+
+namespace geometry_msgs
+{
+namespace msg
+{
+class Point
+{
+public:
+  uint32_t cntPub = 0;
+  uint32_t cntSub = 0;
+
+
+  double x
+;
+
+  double y
+;
+
+  double z;
+
+
+  uint32_t copyToBuf(uint8_t *addrPtr)
+  {
+    uint32_t tmpPub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+
+
+
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+
+    memcpy(addrPtr,&x
+,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+
+
+
+
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+
+    memcpy(addrPtr,&y
+,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+
+
+
+
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+
+    memcpy(addrPtr,&z,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+
+
+
+    return cntPub;
+  }
+
+  uint32_t copyFromBuf(const uint8_t *addrPtr) {
+    uint32_t tmpSub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+
+
+
+
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+
+    memcpy(&x
+,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+
+
+
+
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+
+    memcpy(&y
+,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+
+
+
+
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+
+    memcpy(&z,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+
+
+
+    return cntSub;
+  }
+
+   void memAlign(uint8_t *addrPtr){
+    if (cntPub%4 > 0){
+      addrPtr += cntPub;
+      for(int i=0; i<(4-(cntPub%4)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }
+      cntPub += 4-(cntPub%4);
+    }
+    return;
+  }
+
+  uint32_t getTotalSize(){
+    return cntPub ;
+  }
+
+private:
+  std::string type_name = "geometry_msgs::msg::dds_::Point";
+};
+};
+}
+
+namespace message_traits
+{
+template<>
+struct TypeName<geometry_msgs::msg::Point*> {
+  static const char* value()
+  {
+    return "geometry_msgs::msg::dds_::Point_";
+  }
+};
+}
+
+#endif