Add Phidgets high-speed encoder ROS node

README.md

@@ -11,9 +11,10 @@ Drivers for the Phidgets devices. This Catkin metapackage includes:
    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_ir`
+   * `phidgets_high_speed_encoder`
 
 Installing
 ---------------------------------------------
@@ -33,17 +34,18 @@ a `src/` folder within it, then execute:
 
     cd ~/catkin_ws/src
 
-Download the metapackage from the github repository (<ros_distro> may be `groovy`, `hydro`, `indigo`...):
+#### Install ROS wrapper for Phidgets driver ####
 
-    git clone -b <ros_distro> https://github.com/ros-drivers/phidgets_drivers.git
+Install dependencies:
 
-Install dependencies using rosdep:
+    sudo apt-get install libusb-1.0-0 libusb-1.0-0-dev
 
-    rosdep install phidgets_drivers
+#### Build this package ####
 
-Alternatively, if rosdep does not work, install the following packages:
+Download the package from GitHub:
 
-    sudo apt-get install libusb-1.0-0 libusb-1.0-0-dev
+    cd ~/catkin_ws/src
+    git clone -b $ROS_DISTRO https://github.com/ros-drivers/phidgets_drivers.git
 
 Compile your catkin workspace:
 

phidgets_high_speed_encoder/CMakeLists.txt

@@ -0,0 +1,41 @@
+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 ${CMAKE_CXX_FLAGS}")
+	endif ()
+else ()
+	set (CMAKE_CXX_STANDARD 11)
+endif ()
+
+find_package(catkin REQUIRED COMPONENTS phidgets_api roscpp std_msgs message_generation)
+
+add_message_files(
+  FILES
+  EncoderParams.msg
+  EncoderDecimatedSpeed.msg
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS phidgets_api roscpp std_msgs message_runtime
+)
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_executable(phidgets_high_speed_encoder src/phidgets_high_speed_encoder.cpp)
+target_link_libraries(phidgets_high_speed_encoder ${catkin_LIBRARIES})
+add_dependencies(phidgets_high_speed_encoder ${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 one channel in a Phidgets High-Speed Encoder board
+Header header
+# Averaged (sliding window) speed estimation [ticks/s]
+float64 speed

phidgets_high_speed_encoder/msg/EncoderParams.msg

@@ -0,0 +1,7 @@
+# Encoder status for one channel in a Phidgets High-Speed Encoder board.
+Header header
+# Tick count (position) for this encoder channel
+int32 count
+# Instantaneous speed estimation [ticks/s].
+# See also: EncoderDecimatedSpeed
+float64 inst_vel

phidgets_high_speed_encoder/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<package>
+  <name>phidgets_high_speed_encoder</name>
+  <version>0.2.2</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>phidgets_api</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>phidgets_api</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+
+  <export>
+  </export>
+</package>