Merge pull request #15 from jlblancoc/kinetic

Add Phidgets high-speed encoder ROS node.

README.md

@@ -6,14 +6,15 @@ Overview
 
 Drivers for the Phidgets devices. This Catkin metapackage includes:
 
- * `phidgets_api`: a package which downloads and builds the Phidgets C API from
+* `phidgets_api`: a package which downloads and builds the Phidgets C API from
    phidgets.com (as an external project). It also implements a C++ wrapper
    for the C API, providing a base Phidget class and various inherited classes
    for different phidget devices.
 
- * `phidgets_imu`: a package exposing the functionality of the phidget IMU device
-   using the ROS API.
+* ROS nodes exposing the functionality of specific phidgets devices using:
 
+  - `phidgets_imu`
+  - `phidgets_high_speed_encoder`
 
 Installing
 ---------------------------------------------

phidgets_api/include/phidgets_api/phidget.h

@@ -56,7 +56,8 @@ class Phidget
     int close();
 
     /** @brief Block until the unit is attached or timeout occurs
-     * @param timeout Milliseconds to wait before timing out */
+     * @param timeout Milliseconds to wait before timing out
+     * @return 0 on success */
     int waitForAttachment(int timeout);
 
     /** @brief Get the device type string */

phidgets_api/src/phidget.cpp

@@ -17,7 +17,7 @@ void Phidget::registerHandlers()
 {
   CPhidget_set_OnAttach_Handler(handle_, &Phidget::AttachHandler, this); 
   CPhidget_set_OnDetach_Handler(handle_, &Phidget::DetachHandler, this); 
-	CPhidget_set_OnError_Handler (handle_, &Phidget::ErrorHandler,  this);
+  CPhidget_set_OnError_Handler (handle_, &Phidget::ErrorHandler,  this);
 }
 
 void Phidget::init(CPhidgetHandle handle)

phidgets_drivers/package.xml

@@ -18,11 +18,13 @@
   <author>Ivan Dryanovski</author>
   <author>Martin Guenther</author>
   <author>Murilo FM</author>
+  <author>José-Luis Blanco Claraco</author>
 
   <buildtool_depend>catkin</buildtool_depend>
   <run_depend>phidgets_api</run_depend>
   <run_depend>phidgets_imu</run_depend>
   <run_depend>libphidget21</run_depend>
+  <run_depend>phidgets_high_speed_encoder</run_depend>
 
   <export>
     <metapackage />

phidgets_high_speed_encoder/CMakeLists.txt

@@ -0,0 +1,46 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(phidgets_high_speed_encoder)
+
+# Use C++11
+if (CMAKE_VERSION VERSION_LESS "3.1")
+	if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+		set (CMAKE_CXX_FLAGS "-std=gnu++11 ${CMAKE_CXX_FLAGS}")
+	endif ()
+else ()
+	set (CMAKE_CXX_STANDARD 11)
+endif ()
+
+# High level of warnings:
+if (CMAKE_COMPILER_IS_GNUCXX)
+	add_compile_options(-Wall)
+endif()
+
+
+find_package(catkin REQUIRED COMPONENTS libphidget21 phidgets_api roscpp std_msgs message_generation sensor_msgs)
+
+add_message_files(
+  FILES
+  EncoderDecimatedSpeed.msg
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS libphidget21 phidgets_api roscpp std_msgs message_runtime sensor_msgs
+)
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_executable(${PROJECT_NAME} src/phidgets_high_speed_encoder.cpp)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
+add_dependencies(phidgets_high_speed_encoder phidgets_high_speed_encoder_generate_messages)
+
+install(TARGETS phidgets_high_speed_encoder
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

phidgets_high_speed_encoder/msg/EncoderDecimatedSpeed.msg

@@ -0,0 +1,4 @@
+# Encoder averaged speed for a channel in a Phidgets High-Speed Encoder board
+Header header
+# Averaged (sliding window) speed estimation [rad/s]
+float64 avr_speed

phidgets_high_speed_encoder/package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<package>
+  <name>phidgets_high_speed_encoder</name>
+  <version>0.7.3</version>
+  <description>Driver for the Phidgets high speed encoder devices</description>
+
+  <maintainer email="geoffrey.viola@asirobots.com">Geoff Viola</maintainer>
+  <maintainer email="jlblanco@ual.es">José-Luis Blanco Claraco</maintainer>
+
+  <license>BSD</license>
+
+  <author email="geoffrey.viola@asirobots.com">Geoff Viola</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>libphidget21</build_depend>
+  <build_depend>phidgets_api</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <run_depend>libphidget21</run_depend>
+  <run_depend>phidgets_api</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+
+  <export>
+  </export>
+</package>