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Author SHA1 Message Date
HiepLM
5069931a87 update pnkx_nav_core/src/Libraries/xmlrpcpp 2026-02-10 14:40:29 +07:00
HiepLM
99f014e14c update c_api 2026-02-10 14:39:43 +07:00
143 changed files with 5109 additions and 2324 deletions
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620
examples/CSharpExample.cs
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@@ -1,620 +0,0 @@
using System;
using System.Runtime.InteropServices;
using System.Runtime.CompilerServices;
namespace NavigationExample
{
/// <summary>
/// C# P/Invoke wrapper for Navigation C API
/// </summary>
public class NavigationAPI
{
private const string DllName = "libnav_c_api.so"; // Linux
// For Windows: "nav_c_api.dll"
// For macOS: "libnav_c_api.dylib"
// ============================================================================
// Enums
// ============================================================================
public enum NavigationState
{
Pending = 0,
Active = 1,
Preempted = 2,
Succeeded = 3,
Aborted = 4,
Rejected = 5,
Preempting = 6,
Recalling = 7,
Recalled = 8,
Lost = 9,
Planning = 10,
Controlling = 11,
Clearing = 12,
Paused = 13
}
// ============================================================================
// Structures
// ============================================================================
[StructLayout(LayoutKind.Sequential)]
public struct Point
{
public double x;
public double y;
public double z;
}
[StructLayout(LayoutKind.Sequential)]
public struct Pose2D
{
public double x;
public double y;
public double theta;
}
[StructLayout(LayoutKind.Sequential)]
public struct Twist2D
{
public double x;
public double y;
public double theta;
}
[StructLayout(LayoutKind.Sequential)]
public struct Quaternion
{
public double x;
public double y;
public double z;
public double w;
}
[StructLayout(LayoutKind.Sequential)]
public struct Position
{
public double x;
public double y;
public double z;
}
[StructLayout(LayoutKind.Sequential)]
public struct Pose
{
public Position position;
public Quaternion orientation;
}
[StructLayout(LayoutKind.Sequential)]
public struct Header
{
public uint seq;
public long sec;
public uint nsec;
public IntPtr frame_id; // char*
}
[StructLayout(LayoutKind.Sequential)]
public struct PoseStamped
{
public Header header;
public Pose pose;
}
[StructLayout(LayoutKind.Sequential)]
public struct Twist2DStamped
{
public Header header;
public Twist2D velocity;
}
[StructLayout(LayoutKind.Sequential)]
public struct Vector3
{
public double x;
public double y;
public double z;
}
[StructLayout(LayoutKind.Sequential)]
public struct NavFeedback
{
public NavigationState navigation_state;
public IntPtr feed_back_str; // char*
public Pose2D current_pose;
[MarshalAs(UnmanagedType.I1)]
public bool goal_checked;
[MarshalAs(UnmanagedType.I1)]
public bool is_ready;
}
[StructLayout(LayoutKind.Sequential)]
public struct NamedOccupancyGrid
{
public IntPtr name; // char*
public IntPtr map; // OccupancyGridHandle
}
[StructLayout(LayoutKind.Sequential)]
public struct NamedLaserScan
{
public IntPtr name; // char*
public IntPtr scan; // LaserScanHandle
}
[StructLayout(LayoutKind.Sequential)]
public struct NamedPointCloud
{
public IntPtr name; // char*
public IntPtr cloud; // PointCloudHandle
}
[StructLayout(LayoutKind.Sequential)]
public struct NamedPointCloud2
{
public IntPtr name; // char*
public IntPtr cloud; // PointCloud2Handle
}
[StructLayout(LayoutKind.Sequential)]
public struct PlannerDataOutput
{
public IntPtr plan; // Path2DHandle
public IntPtr costmap; // OccupancyGridHandle
public IntPtr costmap_update; // OccupancyGridUpdateHandle
[MarshalAs(UnmanagedType.I1)]
public bool is_costmap_updated;
public IntPtr footprint; // PolygonStampedHandle
}
// ============================================================================
// String Management
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void nav_c_api_free_string(IntPtr str);
// ============================================================================
// Complex Message Handle Management
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_occupancy_grid(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_occupancy_grid_update(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_laser_scan(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_point_cloud(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_point_cloud2(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_odometry(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_path2d(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_polygon_stamped(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_order(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_named_occupancy_grids(IntPtr maps, UIntPtr count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_named_laser_scans(IntPtr scans, UIntPtr count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_named_point_clouds(IntPtr clouds, UIntPtr count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_named_point_cloud2s(IntPtr clouds, UIntPtr count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_planner_data(ref PlannerDataOutput data);
// ============================================================================
// State Conversion
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
public static extern IntPtr navigation_state_to_string(NavigationState state);
// ============================================================================
// Helper Functions
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_offset_goal_2d(
double pose_x, double pose_y, double pose_theta,
string frame_id, double offset_distance,
ref PoseStamped out_goal);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_offset_goal_stamped(
ref PoseStamped in_pose, double offset_distance,
ref PoseStamped out_goal);
// ============================================================================
// Navigation Handle Management
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern IntPtr navigation_create();
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_destroy(IntPtr handle);
// ============================================================================
// TF Listener Management
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern IntPtr tf_listener_create();
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void tf_listener_destroy(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool tf_listener_set_static_transform(
IntPtr tf_handle,
string parent_frame,
string child_frame,
double x, double y, double z,
double qx, double qy, double qz, double qw);
// ============================================================================
// Navigation Interface Methods
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_initialize(IntPtr handle, IntPtr tf_handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_set_robot_footprint(
IntPtr handle, Point[] points, UIntPtr point_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_robot_footprint(
IntPtr handle, out IntPtr out_points, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_points(IntPtr points);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_move_to(
IntPtr handle, ref PoseStamped goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_move_to_order(
IntPtr handle, IntPtr order, ref PoseStamped goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_dock_to(
IntPtr handle, string marker, ref PoseStamped goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_dock_to_order(
IntPtr handle, IntPtr order, ref PoseStamped goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_move_straight_to(
IntPtr handle, ref PoseStamped goal, double xy_goal_tolerance);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_rotate_to(
IntPtr handle, ref PoseStamped goal, double yaw_goal_tolerance);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_pause(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_resume(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_cancel(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_set_twist_linear(
IntPtr handle, double linear_x, double linear_y, double linear_z);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_set_twist_angular(
IntPtr handle, double angular_x, double angular_y, double angular_z);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_robot_pose_stamped(
IntPtr handle, ref PoseStamped out_pose);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_robot_pose_2d(
IntPtr handle, ref Pose2D out_pose);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_twist(
IntPtr handle, ref Twist2DStamped out_twist);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_feedback(
IntPtr handle, ref NavFeedback out_feedback);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_feedback(ref NavFeedback feedback);
// ============================================================================
// Navigation Data Management
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_add_static_map(IntPtr handle, string map_name, IntPtr map);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_add_laser_scan(IntPtr handle, string laser_scan_name, IntPtr laser_scan);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_add_point_cloud(IntPtr handle, string point_cloud_name, IntPtr point_cloud);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_add_point_cloud2(IntPtr handle, string point_cloud2_name, IntPtr point_cloud2);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_add_odometry(IntPtr handle, string odometry_name, IntPtr odometry);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_static_map(IntPtr handle, string map_name, out IntPtr out_map);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_laser_scan(IntPtr handle, string laser_scan_name, out IntPtr out_scan);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_point_cloud(IntPtr handle, string point_cloud_name, out IntPtr out_cloud);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_point_cloud2(IntPtr handle, string point_cloud2_name, out IntPtr out_cloud);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_all_static_maps(IntPtr handle, out IntPtr out_maps, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_all_laser_scans(IntPtr handle, out IntPtr out_scans, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_all_point_clouds(IntPtr handle, out IntPtr out_clouds, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_all_point_cloud2s(IntPtr handle, out IntPtr out_clouds, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_static_map(IntPtr handle, string map_name);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_laser_scan(IntPtr handle, string laser_scan_name);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_point_cloud(IntPtr handle, string point_cloud_name);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_point_cloud2(IntPtr handle, string point_cloud2_name);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_all_static_maps(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_all_laser_scans(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_all_point_clouds(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_all_point_cloud2s(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_all_data(IntPtr handle);
// ============================================================================
// Planner Data
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_global_data(IntPtr handle, ref PlannerDataOutput out_data);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_local_data(IntPtr handle, ref PlannerDataOutput out_data);
// ============================================================================
// Helper Methods for String Conversion
// ============================================================================
public static string MarshalString(IntPtr ptr)
{
if (ptr == IntPtr.Zero)
return string.Empty;
return Marshal.PtrToStringAnsi(ptr);
}
}
// ============================================================================
// Example Usage
// ============================================================================
class Program
{
// Helper method để hiển thị file và line number tự động
static void LogError(string message,
[CallerFilePath] string filePath = "",
[CallerLineNumber] int lineNumber = 0,
[CallerMemberName] string memberName = "")
{
// Lấy tên file từ đường dẫn đầy đủ
string fileName = System.IO.Path.GetFileName(filePath);
Console.WriteLine($"[{fileName}:{lineNumber}] {memberName}: {message}");
}
static void Main(string[] args)
{
// Create TF listener
IntPtr tfHandle = NavigationAPI.tf_listener_create();
if (tfHandle == IntPtr.Zero)
{
LogError("Failed to create TF listener");
return;
}
// Inject a static TF so costmap can immediately canTransform(map <-> base_link).
// If you already publish TF from localization/odometry, you can remove this call.
if (!NavigationAPI.tf_listener_set_static_transform(tfHandle, "map", "odom",
0, 0, 0,
0, 0, 0, 1))
{
LogError("Failed to inject static TF map -> odom");
NavigationAPI.tf_listener_destroy(tfHandle);
return;
}
if (!NavigationAPI.tf_listener_set_static_transform(tfHandle, "odom", "base_footprint",
0, 0, 0,
0, 0, 0, 1))
{
LogError("Failed to inject static TF map -> base_link");
NavigationAPI.tf_listener_destroy(tfHandle);
return;
}
if (!NavigationAPI.tf_listener_set_static_transform(tfHandle, "base_footprint", "base_link",
0, 0, 0,
0, 0, 0, 1))
{
LogError("Failed to inject static TF map -> base_link");
NavigationAPI.tf_listener_destroy(tfHandle);
return;
}
// Create navigation instance
IntPtr navHandle = NavigationAPI.navigation_create();
if (navHandle == IntPtr.Zero)
{
LogError("Failed to create navigation instance");
NavigationAPI.tf_listener_destroy(tfHandle);
return;
}
// Initialize navigation
if (!NavigationAPI.navigation_initialize(navHandle, tfHandle))
{
LogError("Failed to initialize navigation");
NavigationAPI.navigation_destroy(navHandle);
NavigationAPI.tf_listener_destroy(tfHandle);
return;
}
// Set robot footprint
NavigationAPI.Point[] footprint = new NavigationAPI.Point[]
{
new NavigationAPI.Point { x = 0.3, y = -0.2, z = 0.0 },
new NavigationAPI.Point { x = 0.3, y = 0.2, z = 0.0 },
new NavigationAPI.Point { x = -0.3, y = 0.2, z = 0.0 },
new NavigationAPI.Point { x = -0.3, y = -0.2, z = 0.0 }
};
NavigationAPI.navigation_set_robot_footprint(navHandle, footprint, new UIntPtr((uint)footprint.Length));
// Get robot pose
NavigationAPI.Pose2D robotPose = new NavigationAPI.Pose2D();
if (NavigationAPI.navigation_get_robot_pose_2d(navHandle, ref robotPose))
{
Console.WriteLine($"Robot pose: x={robotPose.x}, y={robotPose.y}, theta={robotPose.theta}");
}
// Get navigation feedback
NavigationAPI.NavFeedback feedback = new NavigationAPI.NavFeedback();
if (NavigationAPI.navigation_get_feedback(navHandle, ref feedback))
{
string stateStr = NavigationAPI.MarshalString(
NavigationAPI.navigation_state_to_string(feedback.navigation_state));
string feedbackStr = NavigationAPI.MarshalString(feedback.feed_back_str);
Console.WriteLine($"State: {stateStr}, Feedback: {feedbackStr}");
NavigationAPI.navigation_free_feedback(ref feedback);
}
// Get global planner data (opaque handles)
NavigationAPI.PlannerDataOutput globalData = new NavigationAPI.PlannerDataOutput();
if (NavigationAPI.navigation_get_global_data(navHandle, ref globalData))
{
Console.WriteLine($"Global data received (costmap_updated={globalData.is_costmap_updated})");
NavigationAPI.navigation_free_planner_data(ref globalData);
}
// Get all static maps (names + opaque handles)
IntPtr mapsPtr;
UIntPtr mapsCount;
if (NavigationAPI.navigation_get_all_static_maps(navHandle, out mapsPtr, out mapsCount))
{
ulong count = mapsCount.ToUInt64();
Console.WriteLine($"Static maps: {count}");
if (mapsPtr != IntPtr.Zero && count > 0)
{
int itemSize = Marshal.SizeOf<NavigationAPI.NamedOccupancyGrid>();
for (ulong i = 0; i < count; i++)
{
IntPtr itemPtr = IntPtr.Add(mapsPtr, checked((int)(i * (ulong)itemSize)));
var item = Marshal.PtrToStructure<NavigationAPI.NamedOccupancyGrid>(itemPtr);
string name = NavigationAPI.MarshalString(item.name);
Console.WriteLine($"- {name}");
}
NavigationAPI.navigation_free_named_occupancy_grids(mapsPtr, (UIntPtr)count);
}
}
// Cleanup
NavigationAPI.navigation_destroy(navHandle);
NavigationAPI.tf_listener_destroy(tfHandle);
}
}
}

600
examples/NavigationExample/Program.cs
View File

@@ -53,6 +53,18 @@ namespace NavigationExample
public double theta;
}
[StructLayout(LayoutKind.Sequential)]
public struct NavFeedback
{
public NavigationState navigation_state;
public IntPtr feed_back_str; // char*; free with nav_c_api_free_string
public Pose2D current_pose;
[MarshalAs(UnmanagedType.I1)]
public bool goal_checked;
[MarshalAs(UnmanagedType.I1)]
public bool is_ready;
}
[StructLayout(LayoutKind.Sequential)]
public struct Twist2D
{
@@ -85,11 +97,27 @@ namespace NavigationExample
public Quaternion orientation;
}
[StructLayout(LayoutKind.Sequential)]
public struct Vector3
{
public double x;
public double y;
public double z;
}
[StructLayout(LayoutKind.Sequential)]
public struct Twist
{
public Vector3 linear;
public Vector3 angular;
}
[StructLayout(LayoutKind.Sequential)]
public struct Header
{
public uint seq;
public long sec;
public uint sec;
public uint nsec;
public IntPtr frame_id; // char*
}
@@ -108,384 +136,232 @@ namespace NavigationExample
public Twist2D velocity;
}
[StructLayout(LayoutKind.Sequential)]
public struct Vector3
public struct NavigationHandle
{
public double x;
public double y;
public double z;
public IntPtr ptr;
}
[StructLayout(LayoutKind.Sequential)]
public struct NavFeedback
public struct TFListenerHandle
{
public NavigationState navigation_state;
public IntPtr feed_back_str; // char*
public Pose2D current_pose;
[MarshalAs(UnmanagedType.I1)]
public bool goal_checked;
[MarshalAs(UnmanagedType.I1)]
public bool is_ready;
}
[StructLayout(LayoutKind.Sequential)]
public struct NamedOccupancyGrid
{
public IntPtr name; // char*
public IntPtr map; // OccupancyGridHandle
public IntPtr ptr;
}
[StructLayout(LayoutKind.Sequential)]
public struct NamedLaserScan
public struct LaserScan
{
public IntPtr name; // char*
public IntPtr scan; // LaserScanHandle
public Header header;
public float angle_min;
public float angle_max;
public float angle_increment;
public float time_increment;
public float scan_time;
public float range_min;
public float range_max;
public IntPtr ranges;
public UIntPtr ranges_count;
public IntPtr intensities;
public UIntPtr intensities_count;
}
[StructLayout(LayoutKind.Sequential)]
public struct NamedPointCloud
public struct PoseWithCovariance
{
public IntPtr name; // char*
public IntPtr cloud; // PointCloudHandle
public Pose pose;
public IntPtr covariance;
public UIntPtr covariance_count;
}
[StructLayout(LayoutKind.Sequential)]
public struct NamedPointCloud2
{
public IntPtr name; // char*
public IntPtr cloud; // PointCloud2Handle
public struct TwistWithCovariance {
public Twist twist;
public IntPtr covariance;
public UIntPtr covariance_count;
}
[StructLayout(LayoutKind.Sequential)]
public struct PlannerDataOutput
public struct Odometry
{
public IntPtr plan; // Path2DHandle
public IntPtr costmap; // OccupancyGridHandle
public IntPtr costmap_update; // OccupancyGridUpdateHandle
[MarshalAs(UnmanagedType.I1)]
public bool is_costmap_updated;
public IntPtr footprint; // PolygonStampedHandle
public Header header;
public IntPtr child_frame_id;
public PoseWithCovariance pose;
public TwistWithCovariance twist;
}
// ============================================================================
// String Management
// ============================================================================
[StructLayout(LayoutKind.Sequential)]
public struct OccupancyGrid
{
public Header header;
public MapMetaData info;
public IntPtr data;
public UIntPtr data_count;
}
[StructLayout(LayoutKind.Sequential)]
public struct MapMetaData
{
public Time map_load_time;
public float resolution;
public uint width;
public uint height;
public Pose origin;
}
[StructLayout(LayoutKind.Sequential)]
public struct Time
{
public uint sec;
public uint nsec;
}
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
public static extern Header header_create(string frame_id);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
public static extern Header header_set_data(
uint seq,
uint sec,
uint nsec,
string frame_id);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern Time time_create();
/// <summary>Free a string allocated by the API (strdup).</summary>
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void nav_c_api_free_string(IntPtr str);
// ============================================================================
// Complex Message Handle Management
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_occupancy_grid(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_occupancy_grid_update(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_laser_scan(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_point_cloud(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_point_cloud2(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_odometry(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_path2d(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_polygon_stamped(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_order(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_named_occupancy_grids(IntPtr maps, UIntPtr count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_named_laser_scans(IntPtr scans, UIntPtr count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_named_point_clouds(IntPtr clouds, UIntPtr count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_named_point_cloud2s(IntPtr clouds, UIntPtr count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_planner_data(ref PlannerDataOutput data);
// ============================================================================
// State Conversion
// ============================================================================
/// <summary>Convert NavigationState to string; caller must free with nav_c_api_free_string.</summary>
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
public static extern IntPtr navigation_state_to_string(NavigationState state);
// ============================================================================
// Helper Functions
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_offset_goal_2d(
double pose_x, double pose_y, double pose_theta,
string frame_id, double offset_distance,
ref PoseStamped out_goal);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_offset_goal_stamped(
ref PoseStamped in_pose, double offset_distance,
ref PoseStamped out_goal);
public static extern bool navigation_get_feedback(NavigationHandle handle, ref NavFeedback out_feedback);
// ============================================================================
// Navigation Handle Management
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern IntPtr navigation_create();
/// <summary>Helper: copy unmanaged char* to managed string; does not free the pointer.</summary>
public static string MarshalString(IntPtr p)
{
if (p == IntPtr.Zero) return string.Empty;
return Marshal.PtrToStringAnsi(p) ?? string.Empty;
}
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_destroy(IntPtr handle);
/// <summary>Free strings inside NavFeedback (feed_back_str). Call after navigation_get_feedback when done.</summary>
public static void navigation_free_feedback(ref NavFeedback feedback)
{
if (feedback.feed_back_str != IntPtr.Zero)
{
nav_c_api_free_string(feedback.feed_back_str);
feedback.feed_back_str = IntPtr.Zero;
}
}
// ============================================================================
// TF Listener Management
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern IntPtr tf_listener_create();
public static extern TFListenerHandle tf_listener_create();
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void tf_listener_destroy(IntPtr handle);
public static extern void tf_listener_destroy(TFListenerHandle handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool tf_listener_set_static_transform(
IntPtr tf_handle,
TFListenerHandle tf_handle,
string parent_frame,
string child_frame,
double x, double y, double z,
double qx, double qy, double qz, double qw);
// ============================================================================
// Navigation Interface Methods
// Navigation Handle Management
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_initialize(IntPtr handle, IntPtr tf_handle);
public static extern NavigationHandle navigation_create();
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_destroy(NavigationHandle handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_set_robot_footprint(
IntPtr handle, Point[] points, UIntPtr point_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_robot_footprint(
IntPtr handle, out IntPtr out_points, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_points(IntPtr points);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_move_to(
IntPtr handle, ref PoseStamped goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_move_to_order(
IntPtr handle, IntPtr order, ref PoseStamped goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
public static extern bool navigation_initialize(NavigationHandle handle, TFListenerHandle tf_handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_dock_to(
IntPtr handle, string marker, ref PoseStamped goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
public static extern bool navigation_set_robot_footprint(NavigationHandle handle, Point[] points, UIntPtr point_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_dock_to_order(
IntPtr handle, IntPtr order, ref PoseStamped goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
public static extern bool navigation_get_robot_footprint(NavigationHandle handle, ref Point[] out_points, ref UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_move_straight_to(
IntPtr handle, ref PoseStamped goal, double xy_goal_tolerance);
public static extern bool navigation_move_to(NavigationHandle handle, PoseStamped goal, double xy_goal_tolerance, double yaw_goal_tolerance);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_rotate_to(
IntPtr handle, ref PoseStamped goal, double yaw_goal_tolerance);
public static extern bool navigation_dock_to(NavigationHandle handle, string marker, PoseStamped goal, double xy_goal_tolerance, double yaw_goal_tolerance);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_pause(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_resume(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_cancel(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_set_twist_linear(
IntPtr handle, double linear_x, double linear_y, double linear_z);
public static extern bool navigation_move_straight_to(NavigationHandle handle, PoseStamped goal, double xy_goal_tolerance);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_set_twist_angular(
IntPtr handle, double angular_x, double angular_y, double angular_z);
public static extern bool navigation_rotate_to(NavigationHandle handle, PoseStamped goal, double yaw_goal_tolerance);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_robot_pose_stamped(
IntPtr handle, ref PoseStamped out_pose);
public static extern bool navigation_pause(NavigationHandle handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_robot_pose_2d(
IntPtr handle, ref Pose2D out_pose);
public static extern bool navigation_resume(NavigationHandle handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_twist(
IntPtr handle, ref Twist2DStamped out_twist);
public static extern bool navigation_cancel(NavigationHandle handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_feedback(
IntPtr handle, ref NavFeedback out_feedback);
public static extern bool navigation_set_twist_linear(NavigationHandle handle, double linear_x, double linear_y, double linear_z);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void navigation_free_feedback(ref NavFeedback feedback);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_set_twist_angular(NavigationHandle handle, double angular_x, double angular_y, double angular_z);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_robot_pose_stamped(NavigationHandle handle, ref PoseStamped out_pose);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_robot_pose_2d(NavigationHandle handle, ref Pose2D out_pose);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_twist(NavigationHandle handle, ref Twist2DStamped out_twist);
// ============================================================================
// Navigation Data Management
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_add_static_map(IntPtr handle, string map_name, IntPtr map);
public static extern bool navigation_add_laser_scan(NavigationHandle handle, string laser_scan_name, LaserScan laser_scan);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_add_laser_scan(IntPtr handle, string laser_scan_name, IntPtr laser_scan);
public static extern bool navigation_add_odometry(NavigationHandle handle, string odometry_name, Odometry odometry);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_add_point_cloud(IntPtr handle, string point_cloud_name, IntPtr point_cloud);
public static extern bool navigation_add_static_map(NavigationHandle handle, string map_name, OccupancyGrid occupancy_grid);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_add_point_cloud2(IntPtr handle, string point_cloud2_name, IntPtr point_cloud2);
public static extern bool navigation_get_static_map(NavigationHandle handle, string map_name, ref OccupancyGrid occupancy_grid);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_add_odometry(IntPtr handle, string odometry_name, IntPtr odometry);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_static_map(IntPtr handle, string map_name, out IntPtr out_map);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_laser_scan(IntPtr handle, string laser_scan_name, out IntPtr out_scan);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_point_cloud(IntPtr handle, string point_cloud_name, out IntPtr out_cloud);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_point_cloud2(IntPtr handle, string point_cloud2_name, out IntPtr out_cloud);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_all_static_maps(IntPtr handle, out IntPtr out_maps, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_all_laser_scans(IntPtr handle, out IntPtr out_scans, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_all_point_clouds(IntPtr handle, out IntPtr out_clouds, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_all_point_cloud2s(IntPtr handle, out IntPtr out_clouds, out UIntPtr out_count);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_static_map(IntPtr handle, string map_name);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_laser_scan(IntPtr handle, string laser_scan_name);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_point_cloud(IntPtr handle, string point_cloud_name);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_point_cloud2(IntPtr handle, string point_cloud2_name);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_all_static_maps(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_all_laser_scans(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_all_point_clouds(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_all_point_cloud2s(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_remove_all_data(IntPtr handle);
// ============================================================================
// Planner Data
// ============================================================================
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_global_data(IntPtr handle, ref PlannerDataOutput out_data);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool navigation_get_local_data(IntPtr handle, ref PlannerDataOutput out_data);
// ============================================================================
// Navigation Commands with Order
// ============================================================================
// ============================================================================
// Helper Methods for String Conversion
// ============================================================================
public static string MarshalString(IntPtr ptr)
{
if (ptr == IntPtr.Zero)
return string.Empty;
return Marshal.PtrToStringAnsi(ptr);
}
}
// ============================================================================
@@ -507,8 +383,8 @@ namespace NavigationExample
static void Main(string[] args)
{
// Create TF listener
IntPtr tfHandle = NavigationAPI.tf_listener_create();
if (tfHandle == IntPtr.Zero)
NavigationAPI.TFListenerHandle tfHandle = NavigationAPI.tf_listener_create();
if (tfHandle.ptr == IntPtr.Zero)
{
LogError("Failed to create TF listener");
return;
@@ -544,8 +420,8 @@ namespace NavigationExample
}
// Create navigation instance
IntPtr navHandle = NavigationAPI.navigation_create();
if (navHandle == IntPtr.Zero)
NavigationAPI.NavigationHandle navHandle = NavigationAPI.navigation_create();
if (navHandle.ptr == IntPtr.Zero)
{
LogError("Failed to create navigation instance");
NavigationAPI.tf_listener_destroy(tfHandle);
@@ -571,53 +447,131 @@ namespace NavigationExample
};
NavigationAPI.navigation_set_robot_footprint(navHandle, footprint, new UIntPtr((uint)footprint.Length));
// Get robot pose
NavigationAPI.Pose2D robotPose = new NavigationAPI.Pose2D();
if (NavigationAPI.navigation_get_robot_pose_2d(navHandle, ref robotPose))
{
Console.WriteLine($"Robot pose: x={robotPose.x}, y={robotPose.y}, theta={robotPose.theta}");
}
// Get navigation feedback
NavigationAPI.NavFeedback feedback = new NavigationAPI.NavFeedback();
if (NavigationAPI.navigation_get_feedback(navHandle, ref feedback))
{
string stateStr = NavigationAPI.MarshalString(
NavigationAPI.navigation_state_to_string(feedback.navigation_state));
IntPtr stateStrPtr = NavigationAPI.navigation_state_to_string(feedback.navigation_state);
string stateStr = NavigationAPI.MarshalString(stateStrPtr);
NavigationAPI.nav_c_api_free_string(stateStrPtr);
string feedbackStr = NavigationAPI.MarshalString(feedback.feed_back_str);
Console.WriteLine($"State: {stateStr}, Feedback: {feedbackStr}");
NavigationAPI.navigation_free_feedback(ref feedback);
}
System.Threading.Thread.Sleep(1000);
IntPtr fFrameId = Marshal.StringToHGlobalAnsi("fscan");
NavigationAPI.Header fscanHeader = NavigationAPI.header_create(Marshal.PtrToStringAnsi(fFrameId));
NavigationAPI.LaserScan fscanHandle;
fscanHandle.header = fscanHeader;
fscanHandle.angle_min = -1.57f;
fscanHandle.angle_max = 1.57f;
fscanHandle.angle_increment = 0.785f;
fscanHandle.time_increment = 0.0f;
fscanHandle.scan_time = 0.1f;
fscanHandle.range_min = 0.05f;
fscanHandle.range_max = 10.0f;
fscanHandle.ranges = Marshal.AllocHGlobal(sizeof(float) * 5);
Marshal.Copy(new float[] { 1.0f, 1.2f, 1.1f, 0.9f, 1.3f }, 0, fscanHandle.ranges, 5);
fscanHandle.ranges_count = new UIntPtr(5);
fscanHandle.intensities = Marshal.AllocHGlobal(sizeof(float) * 5);
Marshal.Copy(new float[] { 100.0f, 120.0f, 110.0f, 90.0f, 130.0f }, 0, fscanHandle.intensities, 5);
fscanHandle.intensities_count = new UIntPtr(5);
NavigationAPI.navigation_add_laser_scan(navHandle, "/fscan", fscanHandle);
// Get global planner data (opaque handles)
NavigationAPI.PlannerDataOutput globalData = new NavigationAPI.PlannerDataOutput();
if (NavigationAPI.navigation_get_global_data(navHandle, ref globalData))
{
Console.WriteLine($"Global data received (costmap_updated={globalData.is_costmap_updated})");
NavigationAPI.navigation_free_planner_data(ref globalData);
}
// Get all static maps (names + opaque handles)
IntPtr mapsPtr;
UIntPtr mapsCount;
if (NavigationAPI.navigation_get_all_static_maps(navHandle, out mapsPtr, out mapsCount))
{
ulong count = mapsCount.ToUInt64();
Console.WriteLine($"Static maps: {count}");
if (mapsPtr != IntPtr.Zero && count > 0)
{
int itemSize = Marshal.SizeOf<NavigationAPI.NamedOccupancyGrid>();
for (ulong i = 0; i < count; i++)
{
IntPtr itemPtr = IntPtr.Add(mapsPtr, checked((int)(i * (ulong)itemSize)));
var item = Marshal.PtrToStructure<NavigationAPI.NamedOccupancyGrid>(itemPtr);
string name = NavigationAPI.MarshalString(item.name);
Console.WriteLine($"- {name}");
IntPtr bFrameId = Marshal.StringToHGlobalAnsi("bscan");
NavigationAPI.Header bscanHeader = NavigationAPI.header_create(Marshal.PtrToStringAnsi(bFrameId));
NavigationAPI.LaserScan bscanHandle;
bscanHandle.header = bscanHeader;
bscanHandle.angle_min = 1.57f;
bscanHandle.angle_max = -1.57f;
bscanHandle.angle_increment = -0.785f;
bscanHandle.time_increment = 0.0f;
bscanHandle.scan_time = 0.1f;
bscanHandle.range_min = 0.05f;
bscanHandle.range_max = 10.0f;
bscanHandle.ranges = Marshal.AllocHGlobal(sizeof(float) * 5);
Marshal.Copy(new float[] { 1.0f, 1.2f, 1.1f, 0.9f, 1.3f }, 0, bscanHandle.ranges, 5);
bscanHandle.ranges_count = new UIntPtr(5);
bscanHandle.intensities = Marshal.AllocHGlobal(sizeof(float) * 5);
Marshal.Copy(new float[] { 100.0f, 120.0f, 110.0f, 90.0f, 130.0f }, 0, bscanHandle.intensities, 5);
bscanHandle.intensities_count = new UIntPtr(5);
NavigationAPI.navigation_add_laser_scan(navHandle, "/bscan", bscanHandle);
System.Threading.Thread.Sleep(1000);
IntPtr oFrameId = Marshal.StringToHGlobalAnsi("odom");
NavigationAPI.Header odometryHeader = NavigationAPI.header_create(Marshal.PtrToStringAnsi(oFrameId));
NavigationAPI.Odometry odometryHandle = new NavigationAPI.Odometry();
odometryHandle.header = odometryHeader;
IntPtr childFrameId = Marshal.StringToHGlobalAnsi("base_footprint");
odometryHandle.child_frame_id = childFrameId;
odometryHandle.pose.pose.position.x = 0.0;
odometryHandle.pose.pose.position.y = 0.0;
odometryHandle.pose.pose.position.z = 0.0;
odometryHandle.pose.pose.orientation.x = 0.0;
odometryHandle.pose.pose.orientation.y = 0.0;
odometryHandle.pose.pose.orientation.z = 0.0;
odometryHandle.pose.pose.orientation.w = 1.0;
double[] pose_covariance = new double[36];
for(int i = 0; i < pose_covariance.Length; i++) {
pose_covariance[i] = 0.0;
}
NavigationAPI.navigation_free_named_occupancy_grids(mapsPtr, (UIntPtr)count);
odometryHandle.pose.covariance = Marshal.AllocHGlobal(sizeof(double) * pose_covariance.Length);
Marshal.Copy(pose_covariance, 0, odometryHandle.pose.covariance, pose_covariance.Length);
odometryHandle.pose.covariance_count = new UIntPtr((uint)pose_covariance.Length);
odometryHandle.twist.twist.linear.x = 0.0;
odometryHandle.twist.twist.linear.y = 0.0;
odometryHandle.twist.twist.linear.z = 0.0;
odometryHandle.twist.twist.angular.x = 0.0;
odometryHandle.twist.twist.angular.y = 0.0;
odometryHandle.twist.twist.angular.z = 0.0;
double[] twist_covariance = new double[36];
for(int i = 0; i < twist_covariance.Length; i++) {
twist_covariance[i] = 0.0;
}
odometryHandle.twist.covariance = Marshal.AllocHGlobal(sizeof(double) * twist_covariance.Length);
Marshal.Copy(twist_covariance, 0, odometryHandle.twist.covariance, twist_covariance.Length);
odometryHandle.twist.covariance_count = new UIntPtr((uint)twist_covariance.Length);
NavigationAPI.navigation_add_odometry(navHandle, "odometry", odometryHandle);
System.Threading.Thread.Sleep(1000);
// Add static map
NavigationAPI.Time mapLoadTime = NavigationAPI.time_create();
NavigationAPI.MapMetaData mapMetaData = new NavigationAPI.MapMetaData();
mapMetaData.map_load_time = mapLoadTime;
mapMetaData.resolution = 0.05f;
mapMetaData.width = 3;
mapMetaData.height = 10;
mapMetaData.origin = new NavigationAPI.Pose();
mapMetaData.origin.position.x = 0.0;
mapMetaData.origin.position.y = 0.0;
mapMetaData.origin.position.z = 0.0;
mapMetaData.origin.orientation.x = 0.0;
mapMetaData.origin.orientation.y = 0.0;
mapMetaData.origin.orientation.z = 0.0;
mapMetaData.origin.orientation.w = 1.0;
NavigationAPI.OccupancyGrid occupancyGrid = new NavigationAPI.OccupancyGrid();
IntPtr mapFrameId = Marshal.StringToHGlobalAnsi("map");
occupancyGrid.header = NavigationAPI.header_create(Marshal.PtrToStringAnsi(mapFrameId));
occupancyGrid.info = mapMetaData;
byte[] data = new byte[30];
for (int i = 0; i < data.Length; i++) {
data[i] = 100;
}
occupancyGrid.data = Marshal.AllocHGlobal(sizeof(byte) * data.Length);
Marshal.Copy(data, 0, occupancyGrid.data, data.Length);
occupancyGrid.data_count = new UIntPtr((uint)data.Length);
Console.WriteLine("data length: {0} {1}", data.Length, occupancyGrid.data_count);
Console.WriteLine("C# OccupancyGrid sizeof={0} data_off={1} data_count_off={2}",
Marshal.SizeOf<NavigationAPI.OccupancyGrid>(),
Marshal.OffsetOf<NavigationAPI.OccupancyGrid>("data"),
Marshal.OffsetOf<NavigationAPI.OccupancyGrid>("data_count"));
NavigationAPI.navigation_add_static_map(navHandle, "/map", occupancyGrid);
// Cleanup
NavigationAPI.navigation_destroy(navHandle);

BIN
examples/NavigationExample/libnav_c_api.so
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Binary file not shown.

2
examples/run_example.sh
View File

@@ -82,8 +82,6 @@ fi
# Luôn copy source code mới nhất (cập nhật file nếu đã có)
cd "$EXAMPLE_DIR/NavigationExample"
echo "Updating Program.cs from CSharpExample.cs..."
cp ../CSharpExample.cs Program.cs
# Bước 3: Copy library
echo "Copying library..."

31
src/APIs/c_api/CMakeLists.txt
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@@ -10,13 +10,12 @@ if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
# Find Boost
find_package(Boost REQUIRED)
# Find Boost (filesystem needed for plugin path / boost::dll usage)
find_package(Boost REQUIRED COMPONENTS filesystem system)
# Dependencies
set(PACKAGES_DIR
move_base_core
move_base
tf3
robot_time
robot_cpp
@@ -29,8 +28,28 @@ include_directories(
)
# Tìm tất cả file source
file(GLOB SOURCES "src/*.cpp")
file(GLOB HEADERS "include/*.h")
file(GLOB SOURCES
"src/*.cpp"
"src/std_msgs/*.cpp"
"src/sensor_msgs/*.cpp"
"src/geometry_msgs/*.cpp"
"src/nav_msgs/*.cpp"
"src/nav_2d_msgs/*.cpp"
"src/robot_nav_msgs/*.cpp"
"src/robot_geometry_msgs/*.cpp"
"src/map_msgs/*.cpp"
)
file(GLOB HEADERS
"include/*.h"
"include/std_msgs/*.h"
"include/sensor_msgs/*.h"
"include/geometry_msgs/*.h"
"include/nav_msgs/*.h"
"include/nav_2d_msgs/*.h"
"include/robot_nav_msgs/*.h"
"include/robot_geometry_msgs/*.h"
"include/map_msgs/*.h"
)
# Tạo thư viện shared (.so)
add_library(nav_c_api SHARED ${SOURCES} ${HEADERS})
@@ -41,6 +60,8 @@ target_link_libraries(nav_c_api
${PACKAGES_DIR}
PRIVATE
Boost::boost
Boost::filesystem
Boost::system
dl
)

153
src/APIs/c_api/include/convertor.h Normal file
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@@ -0,0 +1,153 @@
#ifndef C_API_CONVERTOR_H
#define C_API_CONVERTOR_H
// C
#include "sensor_msgs/LaserScan.h"
#include "sensor_msgs/PointCloud.h"
#include "sensor_msgs/PointCloud2.h"
#include "nav_msgs/Odometry.h"
#include "std_msgs/Header.h"
#include "nav_msgs/OccupancyGrid.h"
#include "geometry_msgs/Point.h"
#include "geometry_msgs/PoseStamped.h"
#include "geometry_msgs/Pose2D.h"
#include "nav_2d_msgs/Twist2D.h"
#include "nav_2d_msgs/Twist2DStamped.h"
// C++
#include <robot_sensor_msgs/LaserScan.h>
#include <robot_sensor_msgs/PointCloud.h>
#include <robot_sensor_msgs/PointCloud2.h>
#include <robot_nav_msgs/Odometry.h>
#include <robot_nav_msgs/OccupancyGrid.h>
#include <robot_geometry_msgs/PoseStamped.h>
#include <robot_geometry_msgs/Pose2D.h>
#include <robot_nav_2d_msgs/Twist2D.h>
#include <robot_nav_2d_msgs/Twist2DStamped.h>
#include <move_base_core/navigation.h>
#include <move_base_core/common.h>
/**
* @brief Convert C LaserScan to C++ LaserScan
* @param laser_scan C LaserScan
* @return C++ LaserScan
*/
robot_sensor_msgs::LaserScan convert2CppLaserScan(const LaserScan& laser_scan);
/**
* @brief Convert C OccupancyGrid to C++ OccupancyGrid
* @param occupancy_grid C OccupancyGrid
* @return C++ OccupancyGrid
*/
robot_nav_msgs::OccupancyGrid convert2CppOccupancyGrid(const OccupancyGrid& occupancy_grid);
/**
* @brief Convert C++ OccupancyGrid to C OccupancyGrid
* @param cpp C++ OccupancyGrid
* @param out C OccupancyGrid
*/
void convert2COccupancyGrid(const robot_nav_msgs::OccupancyGrid& cpp, OccupancyGrid& out);
/**
* @brief Convert C++ LaserScan to C LaserScan
* @param cpp C++ LaserScan
* @param out C LaserScan
*/
void convert2CLaserScan(const robot_sensor_msgs::LaserScan& cpp, LaserScan& out);
/**
* @brief Convert C++ PointCloud to C PointCloud
* @param cpp C++ PointCloud
* @param out C PointCloud
*/
void convert2CPointCloud(const robot_sensor_msgs::PointCloud& cpp, PointCloud& out);
/**
* @brief Convert C++ PointCloud2 to C PointCloud2
* @param cpp C++ PointCloud2
* @param out C PointCloud2
*/
void convert2CPointCloud2(const robot_sensor_msgs::PointCloud2& cpp, PointCloud2& out);
/**
* @brief Convert C PointCloud to C++ PointCloud
* @param c C PointCloud
* @return C++ PointCloud
*/
robot_sensor_msgs::PointCloud convert2CppPointCloud(const PointCloud& c);
/**
* @brief Convert C PointCloud2 to C++ PointCloud2
* @param c C PointCloud2
* @return C++ PointCloud2
*/
robot_sensor_msgs::PointCloud2 convert2CppPointCloud2(const PointCloud2& c);
/**
* @brief Convert C Odometry to C++ Odometry
* @param odometry C Odometry
* @return C++ Odometry
*/
robot_nav_msgs::Odometry convert2CppOdometry(const Odometry& odometry);
/**
* @brief Convert C PoseStamped to C++ PoseStamped
* @param pose_stamped C PoseStamped
* @return C++ PoseStamped
*/
robot_geometry_msgs::PoseStamped convert2CppPoseStamped(const PoseStamped& pose_stamped);
/**
* @brief Convert C++ PoseStamped to C PoseStamped
* @param cpp_pose_stamped C++ PoseStamped
* @return C PoseStamped
*/
PoseStamped convert2CPoseStamped(const robot_geometry_msgs::PoseStamped& cpp_pose_stamped);
/**
* @brief Convert C Pose2D to C++ Pose2D
* @param pose_2d C Pose2D
* @return C++ Pose2D
*/
robot_geometry_msgs::Pose2D convert2CppPose2D(const Pose2D& pose_2d);
/**
* @brief Convert C++ Pose2D to C Pose2D
* @param cpp_pose_2d C++ Pose2D
* @return C Pose2D
*/
Pose2D convert2CPose2D(const robot_geometry_msgs::Pose2D& cpp_pose_2d);
/**
* @brief Convert C Twist2D to C++ Twist2D
* @param twist_2d C Twist2D
* @return C++ Twist2D
*/
robot_nav_2d_msgs::Twist2D convert2CppTwist2D(const Twist2D& twist_2d);
/**
* @brief Convert C++ Twist2D to C Twist2D
* @param cpp_twist_2d C++ Twist2D
* @return C Twist2D
*/
Twist2D convert2CTwist2D(const robot_nav_2d_msgs::Twist2D& cpp_twist_2d);
/**
* @brief Convert C Twist2DStamped to C++ Twist2DStamped
* @param twist_2d_stamped C Twist2DStamped
* @return C++ Twist2DStamped
*/
robot_nav_2d_msgs::Twist2DStamped convert2CppTwist2DStamped(const Twist2DStamped& twist_2d_stamped);
/**
* @brief Convert C++ Twist2DStamped to C Twist2DStamped
* @param cpp_twist_2d_stamped C++ Twist2DStamped
* @return C Twist2DStamped
*/
Twist2DStamped convert2CTwist2DStamped(const robot_nav_2d_msgs::Twist2DStamped& cpp_twist_2d_stamped);
#endif // C_API_CONVERTOR_H

22
src/APIs/c_api/include/geometry_msgs/Accel.h Normal file
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@@ -0,0 +1,22 @@
#ifndef C_API_GEOMETRY_MSGS_ACCEL_H
#define C_API_GEOMETRY_MSGS_ACCEL_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "geometry_msgs/Vector3.h"
typedef struct
{
Vector3 linear;
Vector3 angular;
} Accel;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_ACCEL_H

23
src/APIs/c_api/include/geometry_msgs/AccelStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_ACCELSTAMPED_H
#define C_API_GEOMETRY_MSGS_ACCELSTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Accel.h"
typedef struct
{
Header header;
Accel accel;
} AccelStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_ACCELSTAMPED_H

22
src/APIs/c_api/include/geometry_msgs/AccelWithCovariance.h Normal file
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@@ -0,0 +1,22 @@
#ifndef C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCE_H
#define C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "geometry_msgs/Accel.h"
typedef struct
{
Accel accel;
double covariance[36];
} AccelWithCovariance;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCE_H

23
src/APIs/c_api/include/geometry_msgs/AccelWithCovarianceStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCESTAMPED_H
#define C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCESTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/AccelWithCovariance.h"
typedef struct
{
Header header;
AccelWithCovariance accel;
} AccelWithCovarianceStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCESTAMPED_H

28
src/APIs/c_api/include/geometry_msgs/Inertia.h Normal file
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@@ -0,0 +1,28 @@
#ifndef C_API_GEOMETRY_MSGS_INERTIA_H
#define C_API_GEOMETRY_MSGS_INERTIA_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "geometry_msgs/Vector3.h"
typedef struct
{
double m;
Vector3 com;
double ixx;
double ixy;
double ixz;
double iyy;
double iyz;
double izz;
} Inertia;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_INERTIA_H

23
src/APIs/c_api/include/geometry_msgs/InertiaStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_INERTIASTAMPED_H
#define C_API_GEOMETRY_MSGS_INERTIASTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Inertia.h"
typedef struct
{
Header header;
Inertia inertia;
} InertiaStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_INERTIASTAMPED_H

21
src/APIs/c_api/include/geometry_msgs/Point.h Normal file
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@@ -0,0 +1,21 @@
#ifndef C_API_GEOMETRY_MSGS_POINT_H
#define C_API_GEOMETRY_MSGS_POINT_H
#ifdef __cplusplus
extern "C"
{
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
double x;
double y;
double z;
} Point;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_POINT_H

22
src/APIs/c_api/include/geometry_msgs/Point32.h Normal file
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@@ -0,0 +1,22 @@
#ifndef C_API_GEOMETRY_MSGS_POINT32_H
#define C_API_GEOMETRY_MSGS_POINT32_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
float x;
float y;
float z;
} Point32;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_POINT32_H

23
src/APIs/c_api/include/geometry_msgs/PointStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_POINTSTAMPED_H
#define C_API_GEOMETRY_MSGS_POINTSTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Point.h"
typedef struct
{
Header header;
Point point;
} PointStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_POINTSTAMPED_H

22
src/APIs/c_api/include/geometry_msgs/Polygon.h Normal file
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@@ -0,0 +1,22 @@
#ifndef C_API_GEOMETRY_MSGS_POLYGON_H
#define C_API_GEOMETRY_MSGS_POLYGON_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "geometry_msgs/Point32.h"
typedef struct
{
Point32 *points;
size_t points_count;
} Polygon;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_POLYGON_H

23
src/APIs/c_api/include/geometry_msgs/PolygonStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_POLYGONSTAMPED_H
#define C_API_GEOMETRY_MSGS_POLYGONSTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Polygon.h"
typedef struct
{
Header header;
Polygon polygon;
} PolygonStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_POLYGONSTAMPED_H

23
src/APIs/c_api/include/geometry_msgs/Pose.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_POSE_H
#define C_API_GEOMETRY_MSGS_POSE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "geometry_msgs/Point.h"
#include "geometry_msgs/Quaternion.h"
typedef struct
{
Point position;
Quaternion orientation;
} Pose;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_POSE_H

22
src/APIs/c_api/include/geometry_msgs/Pose2D.h Normal file
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@@ -0,0 +1,22 @@
#ifndef C_API_GEOMETRY_MSGS_POSE2D_H
#define C_API_GEOMETRY_MSGS_POSE2D_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
double x;
double y;
double theta;
} Pose2D;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_POSE2D_H

24
src/APIs/c_api/include/geometry_msgs/PoseArray.h Normal file
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@@ -0,0 +1,24 @@
#ifndef C_API_GEOMETRY_MSGS_POSEARRAY_H
#define C_API_GEOMETRY_MSGS_POSEARRAY_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Pose.h"
typedef struct
{
Header header;
Pose *poses;
size_t poses_count;
} PoseArray;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_POSEARRAY_H

23
src/APIs/c_api/include/geometry_msgs/PoseStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_POSESTAMPED_H
#define C_API_GEOMETRY_MSGS_POSESTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Pose.h"
typedef struct
{
Header header;
Pose pose;
} PoseStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_POSESTAMPED_H

23
src/APIs/c_api/include/geometry_msgs/PoseWithCovariance.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCE_H
#define C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "geometry_msgs/Pose.h"
typedef struct
{
Pose pose;
double *covariance;
size_t covariance_count;
} PoseWithCovariance;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCE_H

23
src/APIs/c_api/include/geometry_msgs/PoseWithCovarianceStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCESTAMPED_H
#define C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCESTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/PoseWithCovariance.h"
typedef struct
{
Header header;
PoseWithCovariance pose;
} PoseWithCovarianceStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCESTAMPED_H

23
src/APIs/c_api/include/geometry_msgs/Quaternion.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_QUATERNION_H
#define C_API_GEOMETRY_MSGS_QUATERNION_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
double x;
double y;
double z;
double w;
} Quaternion;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_QUATERNION_H

23
src/APIs/c_api/include/geometry_msgs/QuaternionStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_QUATERNIONSTAMPED_H
#define C_API_GEOMETRY_MSGS_QUATERNIONSTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Quaternion.h"
typedef struct
{
Header header;
Quaternion quaternion;
} QuaternionStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_QUATERNIONSTAMPED_H

23
src/APIs/c_api/include/geometry_msgs/Transform.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_TRANSFORM_H
#define C_API_GEOMETRY_MSGS_TRANSFORM_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "geometry_msgs/Vector3.h"
#include "geometry_msgs/Quaternion.h"
typedef struct
{
Vector3 translation;
Quaternion rotation;
} Transform;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_TRANSFORM_H

24
src/APIs/c_api/include/geometry_msgs/TransformStamped.h Normal file
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#ifndef C_API_GEOMETRY_MSGS_TRANSFORMSTAMPED_H
#define C_API_GEOMETRY_MSGS_TRANSFORMSTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Transform.h"
typedef struct
{
Header header;
char *child_frame_id;
Transform transform;
} TransformStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_TRANSFORMSTAMPED_H

22
src/APIs/c_api/include/geometry_msgs/Twist.h Normal file
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#ifndef C_API_GEOMETRY_MSGS_TWIST_H
#define C_API_GEOMETRY_MSGS_TWIST_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "geometry_msgs/Vector3.h"
typedef struct
{
Vector3 linear;
Vector3 angular;
} Twist;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_TWIST_H

23
src/APIs/c_api/include/geometry_msgs/TwistStamped.h Normal file
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#ifndef C_API_GEOMETRY_MSGS_TWISTSTAMPED_H
#define C_API_GEOMETRY_MSGS_TWISTSTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Twist.h"
typedef struct
{
Header header;
Twist twist;
} TwistStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_TWISTSTAMPED_H

23
src/APIs/c_api/include/geometry_msgs/TwistWithCovariance.h Normal file
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#ifndef C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCE_H
#define C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "geometry_msgs/Twist.h"
typedef struct
{
Twist twist;
double *covariance;
size_t covariance_count;
} TwistWithCovariance;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCE_H

23
src/APIs/c_api/include/geometry_msgs/TwistWithCovarianceStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCESTAMPED_H
#define C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCESTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/TwistWithCovariance.h"
typedef struct
{
Header header;
TwistWithCovariance twist;
} TwistWithCovarianceStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCESTAMPED_H

22
src/APIs/c_api/include/geometry_msgs/Vector3.h Normal file
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@@ -0,0 +1,22 @@
#ifndef C_API_GEOMETRY_MSGS_VECTOR3_H
#define C_API_GEOMETRY_MSGS_VECTOR3_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
double x;
double y;
double z;
} Vector3;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_VECTOR3_H

23
src/APIs/c_api/include/geometry_msgs/Vector3Stamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_VECTOR3STAMPED_H
#define C_API_GEOMETRY_MSGS_VECTOR3STAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Vector3.h"
typedef struct
{
Header header;
Vector3 vector;
} Vector3Stamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_VECTOR3STAMPED_H

22
src/APIs/c_api/include/geometry_msgs/Wrench.h Normal file
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@@ -0,0 +1,22 @@
#ifndef C_API_GEOMETRY_MSGS_WRENCH_H
#define C_API_GEOMETRY_MSGS_WRENCH_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "geometry_msgs/Vector3.h"
typedef struct
{
Vector3 force;
Vector3 torque;
} Wrench;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_WRENCH_H

23
src/APIs/c_api/include/geometry_msgs/WrenchStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_GEOMETRY_MSGS_WRENCHSTAMPED_H
#define C_API_GEOMETRY_MSGS_WRENCHSTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Wrench.h"
typedef struct
{
Header header;
Wrench wrench;
} WrenchStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_GEOMETRY_MSGS_WRENCHSTAMPED_H

33
src/APIs/c_api/include/map_msgs/OccupancyGridUpdate.h Normal file
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@@ -0,0 +1,33 @@
#ifndef C_API_ROBOT_MAP_MSGS_OCCUPANCYGRIDUPDATE_C_H
#define C_API_ROBOT_MAP_MSGS_OCCUPANCYGRIDUPDATE_C_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
/**
* C representation of robot_map_msgs::OccupancyGridUpdate.
* Note: This header is intentionally named *_c.h to avoid
* shadowing the C++ header `robot_map_msgs/OccupancyGridUpdate.h`.
*/
typedef struct
{
Header header;
int32_t x;
int32_t y;
uint32_t width;
uint32_t height;
int8_t *data;
size_t data_count;
} OccupancyGridUpdate;
#ifdef __cplusplus
}
#endif
#endif // C_API_ROBOT_MAP_MSGS_OCCUPANCYGRIDUPDATE_C_H

23
src/APIs/c_api/include/nav_2d_msgs/ComplexPolygon2D.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_NAV_2D_MSGS_COMPLEXPOLYGON2D_H
#define C_API_NAV_2D_MSGS_COMPLEXPOLYGON2D_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_2d_msgs/Polygon2D.h"
typedef struct
{
Polygon2D outer;
Polygon2D *inner;
size_t inner_count;
} ComplexPolygon2D;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_COMPLEXPOLYGON2D_H

25
src/APIs/c_api/include/nav_2d_msgs/NavGridInfo.h Normal file
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@@ -0,0 +1,25 @@
#ifndef C_API_NAV_2D_MSGS_NAVGRIDINFO_H
#define C_API_NAV_2D_MSGS_NAVGRIDINFO_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
uint32_t width;
uint32_t height;
double resolution;
char *frame_id;
double origin_x;
double origin_y;
} NavGridInfo;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_NAVGRIDINFO_H

25
src/APIs/c_api/include/nav_2d_msgs/NavGridOfChars.h Normal file
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@@ -0,0 +1,25 @@
#ifndef C_API_NAV_2D_MSGS_NAVGRIDOFCHARS_H
#define C_API_NAV_2D_MSGS_NAVGRIDOFCHARS_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Time.h"
#include "nav_2d_msgs/NavGridInfo.h"
typedef struct
{
Time stamp;
NavGridInfo info;
uint8_t *data;
size_t data_count;
} NavGridOfChars;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_NAVGRIDOFCHARS_H

25
src/APIs/c_api/include/nav_2d_msgs/NavGridOfCharsUpdate.h Normal file
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@@ -0,0 +1,25 @@
#ifndef C_API_NAV_2D_MSGS_NAVGRIDOFCHARSUPDATE_H
#define C_API_NAV_2D_MSGS_NAVGRIDOFCHARSUPDATE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Time.h"
#include "nav_2d_msgs/UIntBounds.h"
typedef struct
{
Time stamp;
UIntBounds bounds;
uint8_t *data;
size_t data_count;
} NavGridOfCharsUpdate;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_NAVGRIDOFCHARSUPDATE_H

25
src/APIs/c_api/include/nav_2d_msgs/NavGridOfDoubles.h Normal file
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@@ -0,0 +1,25 @@
#ifndef C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLES_H
#define C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLES_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Time.h"
#include "nav_2d_msgs/NavGridInfo.h"
typedef struct
{
Time stamp;
NavGridInfo info;
double *data;
size_t data_count;
} NavGridOfDoubles;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLES_H

25
src/APIs/c_api/include/nav_2d_msgs/NavGridOfDoublesUpdate.h Normal file
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@@ -0,0 +1,25 @@
#ifndef C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLESUPDATE_H
#define C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLESUPDATE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Time.h"
#include "nav_2d_msgs/UIntBounds.h"
typedef struct
{
Time stamp;
UIntBounds bounds;
double *data;
size_t data_count;
} NavGridOfDoublesUpdate;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLESUPDATE_H

24
src/APIs/c_api/include/nav_2d_msgs/Path2D.h Normal file
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@@ -0,0 +1,24 @@
#ifndef C_API_NAV_2D_MSGS_PATH2D_H
#define C_API_NAV_2D_MSGS_PATH2D_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "nav_2d_msgs/Pose2DStamped.h"
typedef struct
{
Header header;
Pose2DStamped *poses;
size_t poses_count;
} Path2D;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_PATH2D_H

21
src/APIs/c_api/include/nav_2d_msgs/Point2D.h Normal file
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@@ -0,0 +1,21 @@
#ifndef C_API_NAV_2D_MSGS_POINT2D_H
#define C_API_NAV_2D_MSGS_POINT2D_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
double x;
double y;
} Point2D;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_POINT2D_H

22
src/APIs/c_api/include/nav_2d_msgs/Polygon2D.h Normal file
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@@ -0,0 +1,22 @@
#ifndef C_API_NAV_2D_MSGS_POLYGON2D_H
#define C_API_NAV_2D_MSGS_POLYGON2D_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_2d_msgs/Point2D.h"
typedef struct
{
Point2D *points;
size_t points_count;
} Polygon2D;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_POLYGON2D_H

27
src/APIs/c_api/include/nav_2d_msgs/Polygon2DCollection.h Normal file
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@@ -0,0 +1,27 @@
#ifndef C_API_NAV_2D_MSGS_POLYGON2DCOLLECTION_H
#define C_API_NAV_2D_MSGS_POLYGON2DCOLLECTION_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "std_msgs/ColorRGBA.h"
#include "nav_2d_msgs/ComplexPolygon2D.h"
typedef struct
{
Header header;
ComplexPolygon2D *polygons;
size_t polygons_count;
ColorRGBA *colors;
size_t colors_count;
} Polygon2DCollection;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_POLYGON2DCOLLECTION_H

23
src/APIs/c_api/include/nav_2d_msgs/Polygon2DStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_NAV_2D_MSGS_POLYGON2DSTAMPED_H
#define C_API_NAV_2D_MSGS_POLYGON2DSTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "nav_2d_msgs/Polygon2D.h"
typedef struct
{
Header header;
Polygon2D polygon;
} Polygon2DStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_POLYGON2DSTAMPED_H

22
src/APIs/c_api/include/nav_2d_msgs/Pose2D32.h Normal file
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@@ -0,0 +1,22 @@
#ifndef C_API_NAV_2D_MSGS_POSE2D32_H
#define C_API_NAV_2D_MSGS_POSE2D32_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
float x;
float y;
float theta;
} Pose2D32;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_POSE2D32_H

23
src/APIs/c_api/include/nav_2d_msgs/Pose2DStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_NAV_2D_MSGS_POSE2DSTAMPED_H
#define C_API_NAV_2D_MSGS_POSE2DSTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Pose2D.h"
typedef struct
{
Header header;
Pose2D pose;
} Pose2DStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_POSE2DSTAMPED_H

23
src/APIs/c_api/include/nav_2d_msgs/SwitchPlugin.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_NAV_2D_MSGS_SWITCHPLUGIN_H
#define C_API_NAV_2D_MSGS_SWITCHPLUGIN_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_2d_msgs/SwitchPluginRequest.h"
#include "nav_2d_msgs/SwitchPluginResponse.h"
typedef struct
{
SwitchPluginRequest request;
SwitchPluginResponse response;
} SwitchPlugin;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_SWITCHPLUGIN_H

20
src/APIs/c_api/include/nav_2d_msgs/SwitchPluginRequest.h Normal file
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@@ -0,0 +1,20 @@
#ifndef C_API_NAV_2D_MSGS_SWITCHPLUGINREQUEST_H
#define C_API_NAV_2D_MSGS_SWITCHPLUGINREQUEST_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
char *new_plugin;
} SwitchPluginRequest;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_SWITCHPLUGINREQUEST_H

21
src/APIs/c_api/include/nav_2d_msgs/SwitchPluginResponse.h Normal file
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@@ -0,0 +1,21 @@
#ifndef C_API_NAV_2D_MSGS_SWITCHPLUGINRESPONSE_H
#define C_API_NAV_2D_MSGS_SWITCHPLUGINRESPONSE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
uint8_t success;
char *message;
} SwitchPluginResponse;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_SWITCHPLUGINRESPONSE_H

22
src/APIs/c_api/include/nav_2d_msgs/Twist2D.h Normal file
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@@ -0,0 +1,22 @@
#ifndef C_API_NAV_2D_MSGS_TWIST2D_H
#define C_API_NAV_2D_MSGS_TWIST2D_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
double x;
double y;
double theta;
} Twist2D;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_TWIST2D_H

22
src/APIs/c_api/include/nav_2d_msgs/Twist2D32.h Normal file
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@@ -0,0 +1,22 @@
#ifndef C_API_NAV_2D_MSGS_TWIST2D32_H
#define C_API_NAV_2D_MSGS_TWIST2D32_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
float x;
float y;
float theta;
} Twist2D32;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_TWIST2D32_H

23
src/APIs/c_api/include/nav_2d_msgs/Twist2DStamped.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_NAV_2D_MSGS_TWIST2DSTAMPED_H
#define C_API_NAV_2D_MSGS_TWIST2DSTAMPED_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "nav_2d_msgs/Twist2D.h"
typedef struct
{
Header header;
Twist2D velocity;
} Twist2DStamped;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_TWIST2DSTAMPED_H

23
src/APIs/c_api/include/nav_2d_msgs/UIntBounds.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_NAV_2D_MSGS_UINTBOUNDS_H
#define C_API_NAV_2D_MSGS_UINTBOUNDS_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
uint32_t min_x;
uint32_t min_y;
uint32_t max_x;
uint32_t max_y;
} UIntBounds;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_2D_MSGS_UINTBOUNDS_H

486
src/APIs/c_api/include/nav_c_api.h
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@@ -6,154 +6,58 @@ extern "C"
{
#endif
#include <stdbool.h>
#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
#include <stdint.h>
#include <stddef.h>
/* C struct types only - do not include convertor.h here (it pulls C++ code into extern "C") */
#include "std_msgs/Header.h"
#include "geometry_msgs/Point.h"
#include "geometry_msgs/Pose2D.h"
#include "geometry_msgs/PoseStamped.h"
#include "nav_msgs/OccupancyGrid.h"
#include "nav_msgs/Odometry.h"
#include "map_msgs/OccupancyGridUpdate.h"
#include "nav_2d_msgs/Twist2D.h"
#include "nav_2d_msgs/Twist2DStamped.h"
#include "nav_2d_msgs/Path2D.h"
#include "sensor_msgs/LaserScan.h"
#include "sensor_msgs/PointCloud.h"
#include "sensor_msgs/PointCloud2.h"
#include "geometry_msgs/PolygonStamped.h"
// Forward declarations
typedef void *NavigationHandle;
typedef void *TFListenerHandle;
typedef void *OccupancyGridHandle;
typedef void *OccupancyGridUpdateHandle;
typedef void *LaserScanHandle;
typedef void *PointCloudHandle;
typedef void *PointCloud2Handle;
typedef void *OdometryHandle;
typedef void *Path2DHandle;
typedef void *PolygonStampedHandle;
typedef void *OrderHandle;
typedef struct { char *name; OccupancyGrid grid; } NamedOccupancyGrid;
typedef struct { char *name; LaserScan scan; } NamedLaserScan;
typedef struct { char *name; PointCloud cloud; } NamedPointCloud;
typedef struct { char *name; PointCloud2 cloud; } NamedPointCloud2;
// ============================================================================
// Enums
// ============================================================================
typedef struct
{
void *ptr;
} NavigationHandle;
typedef struct
{
void *ptr;
} TFListenerHandle;
/**
* @brief Navigation states, including planning and controller status
*/
typedef enum
{
NAV_STATE_PENDING = 0,
NAV_STATE_ACTIVE = 1,
NAV_STATE_PREEMPTED = 2,
NAV_STATE_SUCCEEDED = 3,
NAV_STATE_ABORTED = 4,
NAV_STATE_REJECTED = 5,
NAV_STATE_PREEMPTING = 6,
NAV_STATE_RECALLING = 7,
NAV_STATE_RECALLED = 8,
NAV_STATE_LOST = 9,
NAV_STATE_PLANNING = 10,
NAV_STATE_CONTROLLING = 11,
NAV_STATE_CLEARING = 12,
NAV_STATE_PAUSED = 13
PENDING = 0,
ACTIVE = 1,
PREEMPTED = 2,
SUCCEEDED = 3,
ABORTED = 4,
REJECTED = 5,
PREEMPTING = 6,
RECALLING = 7,
RECALLED = 8,
LOST = 9,
PLANNING = 10,
CONTROLLING = 11,
CLEARING = 12,
PAUSED = 13
} NavigationState;
// ============================================================================
// Structures
// ============================================================================
/**
* @brief Point structure (x, y, z)
*/
typedef struct
{
double x;
double y;
double z;
} Point;
/**
* @brief Pose2D structure (x, y, theta)
*/
typedef struct
{
double x;
double y;
double theta;
} Pose2D;
/**
* @brief Twist2D structure (x, y, theta velocities)
*/
typedef struct
{
double x;
double y;
double theta;
} Twist2D;
/**
* @brief Quaternion structure
*/
typedef struct
{
double x;
double y;
double z;
double w;
} Quaternion;
/**
* @brief Position structure
*/
typedef struct
{
double x;
double y;
double z;
} Position;
/**
* @brief Pose structure
*/
typedef struct
{
Position position;
Quaternion orientation;
} Pose;
/**
* @brief Header structure
*/
typedef struct
{
uint32_t seq;
int64_t sec;
uint32_t nsec;
char *frame_id;
} Header;
/**
* @brief PoseStamped structure
*/
typedef struct
{
Header header;
Pose pose;
} PoseStamped;
/**
* @brief Twist2DStamped structure
*/
typedef struct
{
Header header;
Twist2D velocity;
} Twist2DStamped;
/**
* @brief Vector3 structure
*/
typedef struct
{
double x;
double y;
double z;
} Vector3;
/**
* @brief Navigation feedback structure
*/
typedef struct
{
NavigationState navigation_state;
@@ -164,201 +68,24 @@ extern "C"
} NavFeedback;
/**
* @brief Named OccupancyGrid structure
* @note map is an opaque handle to a C++ robot_nav_msgs::OccupancyGrid
* @brief Planner data output structure (C version).
* Mirrors robot::move_base_core::PlannerDataOutput in `move_base_core/navigation.h`.
*/
typedef struct
{
char *name;
OccupancyGridHandle map;
} NamedOccupancyGrid;
/**
* @brief Named LaserScan structure
* @note scan is an opaque handle to a C++ robot_sensor_msgs::LaserScan
*/
typedef struct
{
char *name;
LaserScanHandle scan;
} NamedLaserScan;
/**
* @brief Named PointCloud structure
* @note cloud is an opaque handle to a C++ robot_sensor_msgs::PointCloud
*/
typedef struct
{
char *name;
PointCloudHandle cloud;
} NamedPointCloud;
/**
* @brief Named PointCloud2 structure
* @note cloud is an opaque handle to a C++ robot_sensor_msgs::PointCloud2
*/
typedef struct
{
char *name;
PointCloud2Handle cloud;
} NamedPointCloud2;
/**
* @brief Planner data output structure (opaque message handles)
*/
typedef struct
{
Path2DHandle plan;
OccupancyGridHandle costmap;
OccupancyGridUpdateHandle costmap_update;
Path2D plan;
OccupancyGrid costmap;
OccupancyGridUpdate costmap_update;
bool is_costmap_updated;
PolygonStampedHandle footprint;
PolygonStamped footprint;
} PlannerDataOutput;
// ============================================================================
// String Management
// ============================================================================
/**
* @brief Free a string allocated by the library
* @param str String to free
* @brief Free a string allocated by the API (e.g. feed_back_str, navigation_state_to_string result).
* @param str Pointer from strdup; no-op if NULL.
*/
void nav_c_api_free_string(char *str);
// ============================================================================
// Complex Message Handle Management
// ============================================================================
/**
* @brief Free an occupancy grid handle
* @param handle Occupancy grid handle to free
*/
void navigation_free_occupancy_grid(OccupancyGridHandle handle);
/**
* @brief Free an occupancy grid update handle
* @param handle Occupancy grid update handle to free
*/
void navigation_free_occupancy_grid_update(OccupancyGridUpdateHandle handle);
/**
* @brief Free a laser scan handle
* @param handle Laser scan handle to free
*/
void navigation_free_laser_scan(LaserScanHandle handle);
/**
* @brief Free a point cloud handle
* @param handle Point cloud handle to free
*/
void navigation_free_point_cloud(PointCloudHandle handle);
/**
* @brief Free a point cloud2 handle
* @param handle Point cloud2 handle to free
*/
void navigation_free_point_cloud2(PointCloud2Handle handle);
/**
* @brief Free an odometry handle
* @param handle Odometry handle to free
*/
void navigation_free_odometry(OdometryHandle handle);
/**
* @brief Free a path2d handle
* @param handle Path2d handle to free
*/
void navigation_free_path2d(Path2DHandle handle);
/**
* @brief Free a polygon stamped handle
* @param handle Polygon stamped handle to free
*/
void navigation_free_polygon_stamped(PolygonStampedHandle handle);
/**
* @brief Free an order handle
* @param handle Order handle to free
*/
void navigation_free_order(OrderHandle handle);
/**
* @brief Free an array of named occupancy grids
* @param maps Array of named occupancy grids to free
* @param count Number of named occupancy grids in the array
*/
void navigation_free_named_occupancy_grids(NamedOccupancyGrid *maps, size_t count);
/**
* @brief Free an array of named laser scans
* @param scans Array of named laser scans to free
* @param count Number of named laser scans in the array
*/
void navigation_free_named_laser_scans(NamedLaserScan *scans, size_t count);
/**
* @brief Free an array of named point clouds
* @param clouds Array of named point clouds to free
* @param count Number of named point clouds in the array
*/
void navigation_free_named_point_clouds(NamedPointCloud *clouds, size_t count);
/**
* @brief Free an array of named point cloud2s
* @param clouds Array of named point cloud2s to free
* @param count Number of named point cloud2s in the array
*/
void navigation_free_named_point_cloud2s(NamedPointCloud2 *clouds, size_t count);
/**
* @brief Free a planner data output
* @param data Planner data output to free
*/
void navigation_free_planner_data(PlannerDataOutput *data);
// ============================================================================
// State Conversion
// ============================================================================
/**
* @brief Convert a State enum to its string representation
* @param state Enum value of NavigationState
* @return String representation (caller must free with nav_c_api_free_string)
*/
char *navigation_state_to_string(NavigationState state);
// ============================================================================
// Helper Functions
// ============================================================================
/**
* @brief Creates a target pose by offsetting a given 2D pose along its heading direction
* @param pose_x X coordinate of the original pose
* @param pose_y Y coordinate of the original pose
* @param pose_theta Heading angle in radians
* @param frame_id The coordinate frame ID (null-terminated string)
* @param offset_distance Distance to offset along heading (positive = forward, negative = backward)
* @param out_goal Output parameter for the offset pose
* @return true on success, false on failure
*/
bool navigation_offset_goal_2d(double pose_x, double pose_y, double pose_theta,
const char *frame_id, double offset_distance,
PoseStamped *out_goal);
/**
* @brief Creates an offset target pose from a given PoseStamped
* @param in_pose Input pose
* @param offset_distance Distance to offset along heading direction
* @param out_goal Output parameter for the offset pose
* @return true on success, false on failure
*/
bool navigation_offset_goal_stamped(const PoseStamped *in_pose, double offset_distance,
PoseStamped *out_goal);
// ============================================================================
// Navigation Handle Management
// ============================================================================
/**
* @brief Create a new navigation instance
* @return Navigation handle, or NULL on failure
@@ -371,10 +98,6 @@ extern "C"
*/
void navigation_destroy(NavigationHandle handle);
// ============================================================================
// TF Listener Management
// ============================================================================
/**
* @brief Create a TF listener instance
* @return TF listener handle, or NULL on failure
@@ -439,13 +162,8 @@ extern "C"
* @param out_count Output number of points in the array
* @return true on success, false on failure
*/
bool navigation_get_robot_footprint(NavigationHandle handle, Point **out_points, size_t *out_count);
bool navigation_get_robot_footprint(NavigationHandle handle, Point *out_points, size_t &out_count);
/**
* @brief Free a points array allocated by navigation_get_robot_footprint
* @param points Pointer to point array
*/
void navigation_free_points(Point *points);
/**
* @brief Send a goal for the robot to navigate to
@@ -455,21 +173,21 @@ extern "C"
* @param yaw_goal_tolerance Acceptable angular error (radians)
* @return true if goal was accepted and sent successfully
*/
bool navigation_move_to(NavigationHandle handle, const PoseStamped *goal,
bool navigation_move_to(NavigationHandle handle, const PoseStamped goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
/**
* @brief Send a goal for the robot to navigate to
* @param handle Navigation handle
* @param order Order message
* @param goal Target pose in the global frame
* @param xy_goal_tolerance Acceptable error in X/Y (meters)
* @param yaw_goal_tolerance Acceptable angular error (radians)
* @return true if goal was accepted and sent successfully
*/
bool navigation_move_to_order(NavigationHandle handle, const OrderHandle order,
const PoseStamped *goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
// /**
// * @brief Send a goal for the robot to navigate to
// * @param handle Navigation handle
// * @param order Order message
// * @param goal Target pose in the global frame
// * @param xy_goal_tolerance Acceptable error in X/Y (meters)
// * @param yaw_goal_tolerance Acceptable angular error (radians)
// * @return true if goal was accepted and sent successfully
// */
// bool navigation_move_to_order(NavigationHandle handle, const OrderHandle order,
// const PoseStamped &goal,
// double xy_goal_tolerance, double yaw_goal_tolerance);
/**
* @brief Send a docking goal to a predefined marker
@@ -481,21 +199,21 @@ extern "C"
* @return true if docking command succeeded
*/
bool navigation_dock_to(NavigationHandle handle, const char *marker,
const PoseStamped *goal,
const PoseStamped goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
/**
* @brief Send a docking goal to a predefined marker
* @param handle Navigation handle
* @param order Order message
* @param goal Target pose for docking
* @param xy_goal_tolerance Acceptable XY error (meters)
* @param yaw_goal_tolerance Acceptable heading error (radians)
* @return true if docking command succeeded
*/
bool navigation_dock_to_order(NavigationHandle handle, const OrderHandle order,
const PoseStamped *goal,
double xy_goal_tolerance, double yaw_goal_tolerance);
// /**
// * @brief Send a docking goal to a predefined marker
// * @param handle Navigation handle
// * @param order Order message
// * @param goal Target pose for docking
// * @param xy_goal_tolerance Acceptable XY error (meters)
// * @param yaw_goal_tolerance Acceptable heading error (radians)
// * @return true if docking command succeeded
// */
// bool navigation_dock_to_order(NavigationHandle handle, const OrderHandle order,
// const PoseStamped &goal,
// double xy_goal_tolerance, double yaw_goal_tolerance);
/**
* @brief Move straight toward the target position
@@ -504,7 +222,7 @@ extern "C"
* @param xy_goal_tolerance Acceptable positional error (meters)
* @return true if command issued successfully
*/
bool navigation_move_straight_to(NavigationHandle handle, const PoseStamped *goal,
bool navigation_move_straight_to(NavigationHandle handle, const PoseStamped goal,
double xy_goal_tolerance);
/**
@@ -514,7 +232,7 @@ extern "C"
* @param yaw_goal_tolerance Acceptable angular error (radians)
* @return true if rotation command was sent successfully
*/
bool navigation_rotate_to(NavigationHandle handle, const PoseStamped *goal,
bool navigation_rotate_to(NavigationHandle handle, const PoseStamped goal,
double yaw_goal_tolerance);
/**
@@ -563,7 +281,7 @@ extern "C"
* @param out_pose Output parameter with the robot's current pose
* @return true if pose was successfully retrieved
*/
bool navigation_get_robot_pose_stamped(NavigationHandle handle, PoseStamped *out_pose);
bool navigation_get_robot_pose_stamped(NavigationHandle handle, PoseStamped &out_pose);
/**
* @brief Get the robot's pose as a 2D pose
@@ -571,7 +289,7 @@ extern "C"
* @param out_pose Output parameter with the robot's current 2D pose
* @return true if pose was successfully retrieved
*/
bool navigation_get_robot_pose_2d(NavigationHandle handle, Pose2D *out_pose);
bool navigation_get_robot_pose_2d(NavigationHandle handle, Pose2D &out_pose);
/**
* @brief Get the robot's current twist
@@ -580,7 +298,7 @@ extern "C"
* @return true if twist was successfully retrieved
* @note out_twist->header.frame_id must be freed using nav_c_api_free_string
*/
bool navigation_get_twist(NavigationHandle handle, Twist2DStamped *out_twist);
bool navigation_get_twist(NavigationHandle handle, Twist2DStamped &out_twist);
/**
* @brief Get navigation feedback
@@ -589,13 +307,7 @@ extern "C"
* @return true if feedback was successfully retrieved
* @note The feed_back_str field must be freed using nav_c_api_free_string
*/
bool navigation_get_feedback(NavigationHandle handle, NavFeedback *out_feedback);
/**
* @brief Free navigation feedback structure
* @param feedback Feedback structure to free
*/
void navigation_free_feedback(NavFeedback *feedback);
bool navigation_get_feedback(NavigationHandle handle, NavFeedback &out_feedback);
/**
* @brief Add a static map to the navigation system
@@ -604,7 +316,7 @@ extern "C"
* @param map Occupancy grid handle
* @return true if the map was added successfully
*/
bool navigation_add_static_map(NavigationHandle handle, const char *map_name, OccupancyGridHandle map);
bool navigation_add_static_map(NavigationHandle handle, const char *map_name, const OccupancyGrid occupancy_grid);
/**
* @brief Add a laser scan to the navigation system
@@ -613,7 +325,7 @@ extern "C"
* @param laser_scan Laser scan handle
* @return true if the laser scan was added successfully
*/
bool navigation_add_laser_scan(NavigationHandle handle, const char *laser_scan_name, LaserScanHandle laser_scan);
bool navigation_add_laser_scan(NavigationHandle handle, const char *laser_scan_name, const LaserScan laser_scan);
/**
* @brief Add a point cloud to the navigation system
@@ -622,7 +334,7 @@ extern "C"
* @param point_cloud Point cloud handle
* @return true if the point cloud was added successfully
*/
bool navigation_add_point_cloud(NavigationHandle handle, const char *point_cloud_name, PointCloudHandle point_cloud);
bool navigation_add_point_cloud(NavigationHandle handle, const char *point_cloud_name, const PointCloud point_cloud);
/**
* @brief Add a point cloud2 to the navigation system
@@ -631,7 +343,7 @@ extern "C"
* @param point_cloud2 Point cloud2 handle
* @return true if the point cloud2 was added successfully
*/
bool navigation_add_point_cloud2(NavigationHandle handle, const char *point_cloud2_name, PointCloud2Handle point_cloud2);
bool navigation_add_point_cloud2(NavigationHandle handle, const char *point_cloud2_name, const PointCloud2 point_cloud2);
/**
* @brief Add an odometry to the navigation system
@@ -640,7 +352,7 @@ extern "C"
* @param odometry Odometry handle
* @return true if the odometry was added successfully
*/
bool navigation_add_odometry(NavigationHandle handle, const char *odometry_name, OdometryHandle odometry);
bool navigation_add_odometry(NavigationHandle handle, const char *odometry_name, const Odometry odometry);
/**
* @brief Get a static map from the navigation system
@@ -649,7 +361,7 @@ extern "C"
* @param out_map Output parameter for the map handle
* @return true if the map was retrieved successfully
*/
bool navigation_get_static_map(NavigationHandle handle, const char *map_name, OccupancyGridHandle *out_map);
bool navigation_get_static_map(NavigationHandle handle, const char *map_name, OccupancyGrid &out_map);
/**
* @brief Get a laser scan from the navigation system
@@ -658,7 +370,7 @@ extern "C"
* @param out_scan Output parameter for the laser scan handle
* @return true if the laser scan was retrieved successfully
*/
bool navigation_get_laser_scan(NavigationHandle handle, const char *laser_scan_name, LaserScanHandle *out_scan);
bool navigation_get_laser_scan(NavigationHandle handle, const char *laser_scan_name, LaserScan &out_scan);
/**
* @brief Get a point cloud from the navigation system
@@ -667,7 +379,7 @@ extern "C"
* @param out_cloud Output parameter for the point cloud handle
* @return true if the point cloud was retrieved successfully
*/
bool navigation_get_point_cloud(NavigationHandle handle, const char *point_cloud_name, PointCloudHandle *out_cloud);
bool navigation_get_point_cloud(NavigationHandle handle, const char *point_cloud_name, PointCloud &out_cloud);
/**
* @brief Get a point cloud2 from the navigation system
@@ -676,7 +388,7 @@ extern "C"
* @param out_cloud Output parameter for the point cloud2 handle
* @return true if the point cloud2 was retrieved successfully
*/
bool navigation_get_point_cloud2(NavigationHandle handle, const char *point_cloud2_name, PointCloud2Handle *out_cloud);
bool navigation_get_point_cloud2(NavigationHandle handle, const char *point_cloud2_name, PointCloud2 &out_cloud);
/**
* @brief Get all static maps from the navigation system
@@ -685,7 +397,7 @@ extern "C"
* @param out_count Output parameter for the number of maps
* @return true if the maps were retrieved successfully
*/
bool navigation_get_all_static_maps(NavigationHandle handle, NamedOccupancyGrid **out_maps, size_t *out_count);
bool navigation_get_all_static_maps(NavigationHandle handle, NamedOccupancyGrid *out_maps, size_t &out_count);
/**
* @brief Get all laser scans from the navigation system
@@ -694,7 +406,7 @@ extern "C"
* @param out_count Output parameter for the number of scans
* @return true if the scans were retrieved successfully
*/
bool navigation_get_all_laser_scans(NavigationHandle handle, NamedLaserScan **out_scans, size_t *out_count);
bool navigation_get_all_laser_scans(NavigationHandle handle, NamedLaserScan *out_scans, size_t &out_count);
/**
* @brief Get all point clouds from the navigation system
@@ -703,7 +415,7 @@ extern "C"
* @param out_count Output parameter for the number of clouds
* @return true if the clouds were retrieved successfully
*/
bool navigation_get_all_point_clouds(NavigationHandle handle, NamedPointCloud **out_clouds, size_t *out_count);
bool navigation_get_all_point_clouds(NavigationHandle handle, NamedPointCloud *out_clouds, size_t &out_count);
/**
* @brief Get all point cloud2s from the navigation system
@@ -712,7 +424,7 @@ extern "C"
* @param out_count Output parameter for the number of clouds
* @return true if the clouds were retrieved successfully
*/
bool navigation_get_all_point_cloud2s(NavigationHandle handle, NamedPointCloud2 **out_clouds, size_t *out_count);
bool navigation_get_all_point_cloud2s(NavigationHandle handle, NamedPointCloud2 *out_clouds, size_t &out_count);
/**
* @brief Remove a static map from the navigation system

29
src/APIs/c_api/include/nav_msgs/ActionTypes.h Normal file
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@@ -0,0 +1,29 @@
#ifndef C_API_NAV_MSGS_ACTIONTYPES_H
#define C_API_NAV_MSGS_ACTIONTYPES_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Time.h"
typedef struct
{
Time stamp;
char *id;
} GoalID;
typedef struct
{
GoalID goal_id;
uint8_t status;
char *text;
} GoalStatus;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_ACTIONTYPES_H

23
src/APIs/c_api/include/nav_msgs/GetMap.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_NAV_MSGS_GETMAP_H
#define C_API_NAV_MSGS_GETMAP_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_msgs/GetMapRequest.h"
#include "nav_msgs/GetMapResponse.h"
typedef struct
{
GetMapRequest request;
GetMapResponse response;
} GetMap;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETMAP_H

25
src/APIs/c_api/include/nav_msgs/GetMapAction.h Normal file
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@@ -0,0 +1,25 @@
#ifndef C_API_NAV_MSGS_GETMAPACTION_H
#define C_API_NAV_MSGS_GETMAPACTION_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_msgs/GetMapActionGoal.h"
#include "nav_msgs/GetMapActionResult.h"
#include "nav_msgs/GetMapActionFeedback.h"
typedef struct
{
GetMapActionGoal action_goal;
GetMapActionResult action_result;
GetMapActionFeedback action_feedback;
} GetMapAction;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETMAPACTION_H

25
src/APIs/c_api/include/nav_msgs/GetMapActionFeedback.h Normal file
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@@ -0,0 +1,25 @@
#ifndef C_API_NAV_MSGS_GETMAPACTIONFEEDBACK_H
#define C_API_NAV_MSGS_GETMAPACTIONFEEDBACK_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "nav_msgs/ActionTypes.h"
#include "nav_msgs/GetMapFeedback.h"
typedef struct
{
Header header;
GoalStatus status;
GetMapFeedback feedback;
} GetMapActionFeedback;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETMAPACTIONFEEDBACK_H

25
src/APIs/c_api/include/nav_msgs/GetMapActionGoal.h Normal file
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@@ -0,0 +1,25 @@
#ifndef C_API_NAV_MSGS_GETMAPACTIONGOAL_H
#define C_API_NAV_MSGS_GETMAPACTIONGOAL_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "nav_msgs/ActionTypes.h"
#include "nav_msgs/GetMapGoal.h"
typedef struct
{
Header header;
GoalID goal_id;
GetMapGoal goal;
} GetMapActionGoal;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETMAPACTIONGOAL_H

25
src/APIs/c_api/include/nav_msgs/GetMapActionResult.h Normal file
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@@ -0,0 +1,25 @@
#ifndef C_API_NAV_MSGS_GETMAPACTIONRESULT_H
#define C_API_NAV_MSGS_GETMAPACTIONRESULT_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "nav_msgs/ActionTypes.h"
#include "nav_msgs/GetMapResult.h"
typedef struct
{
Header header;
GoalStatus status;
GetMapResult result;
} GetMapActionResult;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETMAPACTIONRESULT_H

20
src/APIs/c_api/include/nav_msgs/GetMapFeedback.h Normal file
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@@ -0,0 +1,20 @@
#ifndef C_API_NAV_MSGS_GETMAPFEEDBACK_H
#define C_API_NAV_MSGS_GETMAPFEEDBACK_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
uint8_t _dummy;
} GetMapFeedback;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETMAPFEEDBACK_H

20
src/APIs/c_api/include/nav_msgs/GetMapGoal.h Normal file
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@@ -0,0 +1,20 @@
#ifndef C_API_NAV_MSGS_GETMAPGOAL_H
#define C_API_NAV_MSGS_GETMAPGOAL_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
uint8_t _dummy;
} GetMapGoal;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETMAPGOAL_H

20
src/APIs/c_api/include/nav_msgs/GetMapRequest.h Normal file
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@@ -0,0 +1,20 @@
#ifndef C_API_NAV_MSGS_GETMAPREQUEST_H
#define C_API_NAV_MSGS_GETMAPREQUEST_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
uint8_t _dummy;
} GetMapRequest;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETMAPREQUEST_H

21
src/APIs/c_api/include/nav_msgs/GetMapResponse.h Normal file
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@@ -0,0 +1,21 @@
#ifndef C_API_NAV_MSGS_GETMAPRESPONSE_H
#define C_API_NAV_MSGS_GETMAPRESPONSE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_msgs/OccupancyGrid.h"
typedef struct
{
OccupancyGrid map;
} GetMapResponse;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETMAPRESPONSE_H

21
src/APIs/c_api/include/nav_msgs/GetMapResult.h Normal file
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@@ -0,0 +1,21 @@
#ifndef C_API_NAV_MSGS_GETMAPRESULT_H
#define C_API_NAV_MSGS_GETMAPRESULT_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_msgs/OccupancyGrid.h"
typedef struct
{
OccupancyGrid map;
} GetMapResult;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETMAPRESULT_H

23
src/APIs/c_api/include/nav_msgs/GetPlan.h Normal file
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@@ -0,0 +1,23 @@
#ifndef C_API_NAV_MSGS_GETPLAN_H
#define C_API_NAV_MSGS_GETPLAN_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_msgs/GetPlanRequest.h"
#include "nav_msgs/GetPlanResponse.h"
typedef struct
{
GetPlanRequest request;
GetPlanResponse response;
} GetPlan;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETPLAN_H

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src/APIs/c_api/include/nav_msgs/GetPlanRequest.h Normal file
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#ifndef C_API_NAV_MSGS_GETPLANREQUEST_H
#define C_API_NAV_MSGS_GETPLANREQUEST_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "geometry_msgs/PoseStamped.h"
typedef struct
{
PoseStamped start;
PoseStamped goal;
float tolerance;
} GetPlanRequest;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETPLANREQUEST_H

21
src/APIs/c_api/include/nav_msgs/GetPlanResponse.h Normal file
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#ifndef C_API_NAV_MSGS_GETPLANRESPONSE_H
#define C_API_NAV_MSGS_GETPLANRESPONSE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_msgs/Path.h"
typedef struct
{
Path plan;
} GetPlanResponse;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GETPLANRESPONSE_H

26
src/APIs/c_api/include/nav_msgs/GridCells.h Normal file
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#ifndef C_API_NAV_MSGS_GRIDCELLS_H
#define C_API_NAV_MSGS_GRIDCELLS_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Point.h"
typedef struct
{
Header header;
float cell_width;
float cell_height;
Point *cells;
size_t cells_count;
} GridCells;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_GRIDCELLS_H

23
src/APIs/c_api/include/nav_msgs/LoadMap.h Normal file
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#ifndef C_API_NAV_MSGS_LOADMAP_H
#define C_API_NAV_MSGS_LOADMAP_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_msgs/LoadMapRequest.h"
#include "nav_msgs/LoadMapResponse.h"
typedef struct
{
LoadMapRequest request;
LoadMapResponse response;
} LoadMap;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_LOADMAP_H

20
src/APIs/c_api/include/nav_msgs/LoadMapRequest.h Normal file
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#ifndef C_API_NAV_MSGS_LOADMAPREQUEST_H
#define C_API_NAV_MSGS_LOADMAPREQUEST_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
char *map_url;
} LoadMapRequest;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_LOADMAPREQUEST_H

23
src/APIs/c_api/include/nav_msgs/LoadMapResponse.h Normal file
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#ifndef C_API_NAV_MSGS_LOADMAPRESPONSE_H
#define C_API_NAV_MSGS_LOADMAPRESPONSE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
#include <stdint.h>
#include <stddef.h>
#include "nav_msgs/OccupancyGrid.h"
typedef struct
{
OccupancyGrid map;
bool result;
} LoadMapResponse;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_LOADMAPRESPONSE_H

26
src/APIs/c_api/include/nav_msgs/MapMetaData.h Normal file
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#ifndef C_API_NAV_MSGS_MAPMETADATA_H
#define C_API_NAV_MSGS_MAPMETADATA_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Time.h"
#include "geometry_msgs/Pose.h"
typedef struct
{
Time map_load_time;
float resolution;
uint32_t width;
uint32_t height;
Pose origin;
} MapMetaData;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_MAPMETADATA_H

25
src/APIs/c_api/include/nav_msgs/OccupancyGrid.h Normal file
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#ifndef C_API_NAV_MSGS_OCCUPANCYGRID_H
#define C_API_NAV_MSGS_OCCUPANCYGRID_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "nav_msgs/MapMetaData.h"
typedef struct
{
Header header;
MapMetaData info;
int8_t *data;
size_t data_count;
} OccupancyGrid;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_OCCUPANCYGRID_H

35
src/APIs/c_api/include/nav_msgs/Odometry.h Normal file
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#ifndef C_API_NAV_MSGS_ODOMETRY_H
#define C_API_NAV_MSGS_ODOMETRY_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/PoseWithCovariance.h"
#include "geometry_msgs/TwistWithCovariance.h"
typedef struct
{
Header header;
char *child_frame_id;
PoseWithCovariance pose;
TwistWithCovariance twist;
} Odometry;
extern "C" Odometry odometry_create(void);
extern "C" Odometry odometry_set_data(
Header header,
char *child_frame_id,
PoseWithCovariance pose,
TwistWithCovariance twist);
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_ODOMETRY_H

24
src/APIs/c_api/include/nav_msgs/Path.h Normal file
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#ifndef C_API_NAV_MSGS_PATH_H
#define C_API_NAV_MSGS_PATH_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/PoseStamped.h"
typedef struct
{
Header header;
PoseStamped *poses;
size_t poses_count;
} Path;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_PATH_H

23
src/APIs/c_api/include/nav_msgs/SetMap.h Normal file
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#ifndef C_API_NAV_MSGS_SETMAP_H
#define C_API_NAV_MSGS_SETMAP_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_msgs/SetMapRequest.h"
#include "nav_msgs/SetMapResponse.h"
typedef struct
{
SetMapRequest request;
SetMapResponse response;
} SetMap;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_SETMAP_H

23
src/APIs/c_api/include/nav_msgs/SetMapRequest.h Normal file
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#ifndef C_API_NAV_MSGS_SETMAPREQUEST_H
#define C_API_NAV_MSGS_SETMAPREQUEST_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "nav_msgs/OccupancyGrid.h"
#include "geometry_msgs/PoseWithCovariance.h"
typedef struct
{
OccupancyGrid map;
PoseWithCovariance initial_pose;
} SetMapRequest;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_SETMAPREQUEST_H

21
src/APIs/c_api/include/nav_msgs/SetMapResponse.h Normal file
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#ifndef C_API_NAV_MSGS_SETMAPRESPONSE_H
#define C_API_NAV_MSGS_SETMAPRESPONSE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
#include <stdint.h>
#include <stddef.h>
typedef struct
{
bool success;
} SetMapResponse;
#ifdef __cplusplus
}
#endif
#endif // C_API_NAV_MSGS_SETMAPRESPONSE_H

38
src/APIs/c_api/include/sensor_msgs/BatteryState.h Normal file
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#ifndef C_API_SENSOR_MSGS_BATTERYSTATE_H
#define C_API_SENSOR_MSGS_BATTERYSTATE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
typedef struct
{
Header header;
float voltage;
float current;
float charge;
float capacity;
float design_capacity;
float percentage;
uint8_t power_supply_status;
uint8_t power_supply_health;
uint8_t power_supply_technology;
bool present;
float *cell_voltage;
size_t cell_voltage_count;
float *cell_temperature;
size_t cell_temperature_count;
char *location;
char *serial_number;
} BatteryState;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_BATTERYSTATE_H

33
src/APIs/c_api/include/sensor_msgs/CameraInfo.h Normal file
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#ifndef C_API_SENSOR_MSGS_CAMERAINFO_H
#define C_API_SENSOR_MSGS_CAMERAINFO_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "sensor_msgs/RegionOfInterest.h"
typedef struct
{
Header header;
uint32_t height;
uint32_t width;
char *distortion_model;
double *D;
size_t D_count;
double K[9];
double R[9];
double P[12];
uint32_t binning_x;
uint32_t binning_y;
RegionOfInterest roi;
} CameraInfo;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_CAMERAINFO_H

22
src/APIs/c_api/include/sensor_msgs/ChannelFloat32.h Normal file
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#ifndef C_API_SENSOR_MSGS_CHANNELFLOAT32_H
#define C_API_SENSOR_MSGS_CHANNELFLOAT32_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
char *name;
float *values;
size_t values_count;
} ChannelFloat32;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_CHANNELFLOAT32_H

24
src/APIs/c_api/include/sensor_msgs/CompressedImage.h Normal file
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#ifndef C_API_SENSOR_MSGS_COMPRESSEDIMAGE_H
#define C_API_SENSOR_MSGS_COMPRESSEDIMAGE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
typedef struct
{
Header header;
char *format;
uint8_t *data;
size_t data_count;
} CompressedImage;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_COMPRESSEDIMAGE_H

23
src/APIs/c_api/include/sensor_msgs/FluidPressure.h Normal file
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#ifndef C_API_SENSOR_MSGS_FLUIDPRESSURE_H
#define C_API_SENSOR_MSGS_FLUIDPRESSURE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
typedef struct
{
Header header;
double fluid_pressure;
double variance;
} FluidPressure;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_FLUIDPRESSURE_H

23
src/APIs/c_api/include/sensor_msgs/Illuminance.h Normal file
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#ifndef C_API_SENSOR_MSGS_ILLUMINANCE_H
#define C_API_SENSOR_MSGS_ILLUMINANCE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
typedef struct
{
Header header;
double illuminance;
double variance;
} Illuminance;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_ILLUMINANCE_H

28
src/APIs/c_api/include/sensor_msgs/Image.h Normal file
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#ifndef C_API_SENSOR_MSGS_IMAGE_H
#define C_API_SENSOR_MSGS_IMAGE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
typedef struct
{
Header header;
uint32_t height;
uint32_t width;
char *encoding;
uint8_t is_bigendian;
uint32_t step;
uint8_t *data;
size_t data_count;
} Image;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_IMAGE_H

29
src/APIs/c_api/include/sensor_msgs/Imu.h Normal file
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#ifndef C_API_SENSOR_MSGS_IMU_H
#define C_API_SENSOR_MSGS_IMU_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Quaternion.h"
#include "geometry_msgs/Vector3.h"
typedef struct
{
Header header;
Quaternion orientation;
double orientation_covariance[9];
Vector3 angular_velocity;
double angular_velocity_covariance[9];
Vector3 linear_acceleration;
double linear_acceleration_covariance[9];
} Imu;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_IMU_H

29
src/APIs/c_api/include/sensor_msgs/JointState.h Normal file
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#ifndef C_API_SENSOR_MSGS_JOINTSTATE_H
#define C_API_SENSOR_MSGS_JOINTSTATE_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
typedef struct
{
Header header;
char **name;
size_t name_count;
double *position;
size_t position_count;
double *velocity;
size_t velocity_count;
double *effort;
size_t effort_count;
} JointState;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_JOINTSTATE_H

25
src/APIs/c_api/include/sensor_msgs/Joy.h Normal file
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#ifndef C_API_SENSOR_MSGS_JOY_H
#define C_API_SENSOR_MSGS_JOY_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
typedef struct
{
Header header;
float *axes;
size_t axes_count;
int32_t *buttons;
size_t buttons_count;
} Joy;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_JOY_H

22
src/APIs/c_api/include/sensor_msgs/JoyFeedback.h Normal file
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#ifndef C_API_SENSOR_MSGS_JOYFEEDBACK_H
#define C_API_SENSOR_MSGS_JOYFEEDBACK_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
uint8_t type;
uint8_t id;
float intensity;
} JoyFeedback;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_JOYFEEDBACK_H

22
src/APIs/c_api/include/sensor_msgs/JoyFeedbackArray.h Normal file
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#ifndef C_API_SENSOR_MSGS_JOYFEEDBACKARRAY_H
#define C_API_SENSOR_MSGS_JOYFEEDBACKARRAY_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "sensor_msgs/JoyFeedback.h"
typedef struct
{
JoyFeedback *array;
size_t array_count;
} JoyFeedbackArray;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_JOYFEEDBACKARRAY_H

21
src/APIs/c_api/include/sensor_msgs/LaserEcho.h Normal file
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#ifndef C_API_SENSOR_MSGS_LASERECHO_H
#define C_API_SENSOR_MSGS_LASERECHO_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
float *echoes;
size_t echoes_count;
} LaserEcho;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_LASERECHO_H

32
src/APIs/c_api/include/sensor_msgs/LaserScan.h Normal file
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#ifndef C_API_SENSOR_MSGS_LASER_SCAN_H
#define C_API_SENSOR_MSGS_LASER_SCAN_H
#ifdef __cplusplus
extern "C"
{
#endif
#include <stdbool.h>
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
typedef struct
{
Header header;
float angle_min;
float angle_max;
float angle_increment;
float time_increment;
float scan_time;
float range_min;
float range_max;
float *ranges;
size_t ranges_count;
float *intensities;
size_t intensities_count;
} LaserScan;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_LASER_SCAN_H

33
src/APIs/c_api/include/sensor_msgs/MultiEchoLaserScan.h Normal file
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#ifndef C_API_SENSOR_MSGS_MULTIECHOLASERSCAN_H
#define C_API_SENSOR_MSGS_MULTIECHOLASERSCAN_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "sensor_msgs/LaserEcho.h"
typedef struct
{
Header header;
float angle_min;
float angle_max;
float angle_increment;
float time_increment;
float scan_time;
float range_min;
float range_max;
LaserEcho *ranges;
size_t ranges_count;
LaserEcho *intensities;
size_t intensities_count;
} MultiEchoLaserScan;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_MULTIECHOLASERSCAN_H

27
src/APIs/c_api/include/sensor_msgs/PointCloud.h Normal file
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#ifndef C_API_SENSOR_MSGS_POINTCLOUD_H
#define C_API_SENSOR_MSGS_POINTCLOUD_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "geometry_msgs/Point32.h"
#include "sensor_msgs/ChannelFloat32.h"
typedef struct
{
Header header;
Point32 *points;
size_t points_count;
ChannelFloat32 *channels;
size_t channels_count;
} PointCloud;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_POINTCLOUD_H

33
src/APIs/c_api/include/sensor_msgs/PointCloud2.h Normal file
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#ifndef C_API_SENSOR_MSGS_POINTCLOUD2_H
#define C_API_SENSOR_MSGS_POINTCLOUD2_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdbool.h>
#include <stdint.h>
#include <stddef.h>
#include "std_msgs/Header.h"
#include "sensor_msgs/PointField.h"
typedef struct
{
Header header;
uint32_t height;
uint32_t width;
PointField *fields;
size_t fields_count;
bool is_bigendian;
uint32_t point_step;
uint32_t row_step;
uint8_t *data;
size_t data_count;
bool is_dense;
} PointCloud2;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_POINTCLOUD2_H

23
src/APIs/c_api/include/sensor_msgs/PointField.h Normal file
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#ifndef C_API_SENSOR_MSGS_POINTFIELD_H
#define C_API_SENSOR_MSGS_POINTFIELD_H
#ifdef __cplusplus
extern "C" {
#endif
#include <stdint.h>
#include <stddef.h>
typedef struct
{
char *name;
uint32_t offset;
uint8_t datatype;
uint32_t count;
} PointField;
#ifdef __cplusplus
}
#endif
#endif // C_API_SENSOR_MSGS_POINTFIELD_H

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