example_ros_cpp

An example of a ROS C++ package conforming to the LARICS C++ coding standard and ROS developers guide.

In this example a PID control algorithm is implemented.

Dependencies

The code has been developed and tested on a Ubuntu 16.04 system with ROS Kinetic. The following libraries are required to build the code and developer docs:

• Robot Operating System
• doxygen

ROS package description

ROS dependencies

• std_msgs

Nodes

• pid_controller_node

  The node implements a PID controller algorithm. It receives the setpoint and a measurement of the process variable through the appropriate ROS topics and publishes the output, the controlled variable.

Subscribed topics

• setpoint (std_msgs/Float32)
• measurement (std_msgs/Float32)

Published topics

• output (std_msgs/Float32)

Quickstart

Building the code

The code is built in a standard ROS fashion. In your ROS workspace root, execute the following command:

catkin build example_ros_cpp

Building and viewing the docs

From the package root (where Doxyfile is located), run:

doxygen
firefox doc/html/index.html &