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interface_description.yaml
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interface_description.yaml
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# Organise the description file per bridging type
# Each type can have several pubs and subs
# The values of a given index of the 3 arrays - topics, datapaths and frequencies - are together considered when creating one topic
# Ex: publishers.topics[1], publishers.datapaths[1] & publishers.frequencies[1] are together considered to spawn pub[1]
odom_bridge:
ros__parameters:
grpc:
address: "unix:/run/plcnext/grpc.sock"
msg_type: "nav_msgs/msg/Odometry" # Include header filename and Scope resolution is derived from this as well.
#publishers: # The next 3 lists must have the same size. Elements of the same index from each list characterise one port.
# topics: [pub_odom]
# datapaths: [Arp.Plc.Eclr/MainInstance.gRPC_Obj.odom_data]
# frequencies: [40]
twist_bridge:
ros__parameters:
grpc:
address: "unix:/run/plcnext/grpc.sock"
msg_type: "geometry_msgs/msg/Twist"
# subscribers:
# topics: [sub_twist]
# datapaths: [Arp.Plc.Eclr/MainInstance.gRPC_Obj.twist_data]
# frequencies: [100]
string_bridge:
ros__parameters:
grpc:
address: "unix:/run/plcnext/grpc.sock"
msg_type: "std_msgs/msg/String"
# Uncomment and populate with values as needed
# publishers:
# topics: []
# datapaths: []
# frequencies: []
# subscribers:
# topics: []
# datapaths: []
# frequencies: []
double_bridge:
ros__parameters:
grpc:
address: "unix:/run/plcnext/grpc.sock"
msg_type: "std_msgs/msg/Float64"
# Uncomment and populate with values as needed
# publishers:
# topics: []
# datapaths: []
# frequencies: []
# subscribers:
# topics: []
# datapaths: []
# frequencies: []
int_bridge:
ros__parameters:
grpc:
address: "unix:/run/plcnext/grpc.sock"
msg_type: "std_msgs/msg/Int64"
# Uncomment and populate with values as needed
# publishers:
# topics: []
# datapaths: []
# frequencies: []
# subscribers:
# topics: []
# datapaths: []
# frequencies: []
header_bridge:
ros__parameters:
grpc:
address: "unix:/run/plcnext/grpc.sock"
msg_type: "std_msgs/msg/Header"
# Uncomment and populate with values as needed
# publishers:
# topics: []
# datapaths: []
# frequencies: []
# subscribers:
# topics: []
# datapaths: []
# frequencies: []
bool_bridge:
ros__parameters:
grpc:
address: "unix:/run/plcnext/grpc.sock"
msg_type: "std_msgs/msg/Bool"
publishers: # The next 3 lists must have the same size. Elements of the same index from each list characterise one port.
topics: [pub_stVar]
datapaths: [Arp.Plc.Eclr/stVar]
frequencies: [40]
subscribers: # The next 3 lists must have the same size. Elements of the same index from each list characterise one port.
topics: [sub_stVar]
datapaths: [Arp.Plc.Eclr/stVar]
frequencies: [40]
num_bridge:
ros__parameters:
grpc:
address: "unix:/run/plcnext/grpc.sock"
msg_type: "std_msgs/msg/UInt8"
publishers: # The next 3 lists must have the same size. Elements of the same index from each list characterise one port.
topics: [pub_stNumOutput]
datapaths: [Arp.Plc.Eclr/stNumOutput]
frequencies: [40]
subscribers: # The next 3 lists must have the same size. Elements of the same index from each list characterise one port.
topics: [sub_stNumInput]
datapaths: [Arp.Plc.Eclr/main.stNumInput]
frequencies: [40]