ros melodic chefbot time test

 

ros melodic chefbot time test

chefbot_time_test1

#include <ros.h>
#include <std_msgs/Int32.h>
#include <limits.h>

ros::NodeHandle nh;

std_msgs::Int32 int_time_msg1;
ros::Publisher time_data1("time1", &int_time_msg1);

std_msgs::Int32 int_time_msg2;
ros::Publisher time_data2("time2", &int_time_msg2);

/////////////////////////////////////////////////////////////////////////////////////////
//Time update variables

unsigned long LastUpdateMicrosecs = 0; 
unsigned long LastUpdateMillisecs = 0;
unsigned long CurrentMicrosecs = 0;
unsigned long MicrosecsSinceLastUpdate = 0;
float SecondsSinceLastUpdate = 0;


void setup() {
nh.initNode();
nh.advertise(time_data1);
nh.advertise(time_data2);
}

void loop() {
Update_Time();
nh.spinOnce();
delay(1000);
}

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//Update time function
void Update_Time() {

CurrentMicrosecs = micros();
LastUpdateMillisecs = millis();
MicrosecsSinceLastUpdate = CurrentMicrosecs - LastUpdateMicrosecs;
if (MicrosecsSinceLastUpdate < 0) {
MicrosecsSinceLastUpdate = INT_MIN - LastUpdateMicrosecs + CurrentMicrosecs;
}
LastUpdateMicrosecs = CurrentMicrosecs;
SecondsSinceLastUpdate = MicrosecsSinceLastUpdate / 1000000.0;

//Serial.print("t");
//Serial.print("\t");
//Serial.print(LastUpdateMicrosecs);
//Serial.print("\t");
//Serial.print(SecondsSinceLastUpdate);
//Serial.print("\n");

int_time_msg1.data = LastUpdateMicrosecs;
time_data1.publish(&int_time_msg1);

int_time_msg2.data = SecondsSinceLastUpdate;
time_data2.publish(&int_time_msg2); 
}

 

terminal 1

roscore

terminal 2

rosserial_python serial_node.py /dev/ttyUSB0

terminal 3

rostopic echo time1

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