Robotics.ROS.Msg

Robot Operating System (ROS) is a set of software libraries and tools that help you build robot applications. From drivers to state-of-the-art algorithms, and with powerful developer tools, ROS has what you need for your next robotics project. And it's all open source.

In ROS a node is a process that performs computation. Nodes communicate with each other by publishing messages to topics. A message is a simple data structure, comprising typed fields. Standard primitive types (integer, floating point, boolean, etc.) are supported, as are arrays of primitive types. Messages can include arbitrarily nested structures and arrays (much like C structs).

This package provide the ROS message language parser and builder. Abstract message representation given by parser can be used in TemplateHaskell codegen for native Haskell structures creation.

ROS message classes

class Binary a => Message a where

Haskell native type for ROS message language described data structure. Serialization guaranted by Binary super class. And no more is needed for transfer over socket.

Minimal complete definition

getType, getSource, getDigest

Methods

getType :: a -> Text

Get message type string, e.g. std_msgs/Char

getSource :: a -> Text

Get message source

getDigest :: a -> MD5Digest

Get recurrent MD5 of message source

class Message a => Stamped a where

Sometime ROS messages have a special Header field. It used for tracking package sequence, time stamping and frame tagging. Headers is frequently field. The Stamped type class lifts header fields on the top of message and abstracting of type.

Minimal complete definition

getSequence, setSequence, getStamp, getFrame

Methods

getSequence :: a -> Word32

Get sequence number

setSequence :: Word32 -> a -> a

Set sequence number

getStamp :: a -> ROSTime

Get timestamp of message

getFrame :: a -> ByteString

Get frame of message

Common used types

Array-like

newtype ROSFixedArray n a

A type for fixed arrays in ROS messages

Constructors

ROSFixedArray

Fields

• unFixedArray :: Array a

Instances

Functor (ROSFixedArray n)

Methods

fmap :: (a -> b) -> ROSFixedArray n a -> ROSFixedArray n b

(<$) :: a -> ROSFixedArray n b -> ROSFixedArray n a

Applicative (ROSFixedArray n)

Methods

pure :: a -> ROSFixedArray n a

(<*>) :: ROSFixedArray n (a -> b) -> ROSFixedArray n a -> ROSFixedArray n b

(*>) :: ROSFixedArray n a -> ROSFixedArray n b -> ROSFixedArray n b

(<*) :: ROSFixedArray n a -> ROSFixedArray n b -> ROSFixedArray n a

Eq a => Eq (ROSFixedArray n a)

Methods

(==) :: ROSFixedArray n a -> ROSFixedArray n a -> Bool

(/=) :: ROSFixedArray n a -> ROSFixedArray n a -> Bool

(Data a, KnownNat n) => Data (ROSFixedArray n a)

Methods

gfoldl :: (forall d b. Data d => c (d -> b) -> d -> c b) -> (forall g. g -> c g) -> ROSFixedArray n a -> c (ROSFixedArray n a)

gunfold :: (forall b r. Data b => c (b -> r) -> c r) -> (forall r. r -> c r) -> Constr -> c (ROSFixedArray n a)

toConstr :: ROSFixedArray n a -> Constr

dataTypeOf :: ROSFixedArray n a -> DataType

dataCast1 :: Typeable (* -> *) t => (forall d. Data d => c (t d)) -> Maybe (c (ROSFixedArray n a))

dataCast2 :: Typeable (* -> * -> *) t => (forall d e. (Data d, Data e) => c (t d e)) -> Maybe (c (ROSFixedArray n a))

gmapT :: (forall b. Data b => b -> b) -> ROSFixedArray n a -> ROSFixedArray n a

gmapQl :: (r -> r' -> r) -> r -> (forall d. Data d => d -> r') -> ROSFixedArray n a -> r

gmapQr :: (r' -> r -> r) -> r -> (forall d. Data d => d -> r') -> ROSFixedArray n a -> r

gmapQ :: (forall d. Data d => d -> u) -> ROSFixedArray n a -> [u]

gmapQi :: Int -> (forall d. Data d => d -> u) -> ROSFixedArray n a -> u

gmapM :: Monad m => (forall d. Data d => d -> m d) -> ROSFixedArray n a -> m (ROSFixedArray n a)

gmapMp :: MonadPlus m => (forall d. Data d => d -> m d) -> ROSFixedArray n a -> m (ROSFixedArray n a)

gmapMo :: MonadPlus m => (forall d. Data d => d -> m d) -> ROSFixedArray n a -> m (ROSFixedArray n a)

Ord a => Ord (ROSFixedArray n a)

Methods

compare :: ROSFixedArray n a -> ROSFixedArray n a -> Ordering

(<) :: ROSFixedArray n a -> ROSFixedArray n a -> Bool

(<=) :: ROSFixedArray n a -> ROSFixedArray n a -> Bool

(>) :: ROSFixedArray n a -> ROSFixedArray n a -> Bool

(>=) :: ROSFixedArray n a -> ROSFixedArray n a -> Bool

max :: ROSFixedArray n a -> ROSFixedArray n a -> ROSFixedArray n a

min :: ROSFixedArray n a -> ROSFixedArray n a -> ROSFixedArray n a

Show a => Show (ROSFixedArray n a)

Methods

showsPrec :: Int -> ROSFixedArray n a -> ShowS

show :: ROSFixedArray n a -> String

showList :: [ROSFixedArray n a] -> ShowS

Monoid (ROSFixedArray n a)

Methods

mempty :: ROSFixedArray n a

mappend :: ROSFixedArray n a -> ROSFixedArray n a -> ROSFixedArray n a

mconcat :: [ROSFixedArray n a] -> ROSFixedArray n a

(Binary a, KnownNat n) => Binary (ROSFixedArray n a)

Methods

put :: ROSFixedArray n a -> Put

get :: Get (ROSFixedArray n a)

putList :: [ROSFixedArray n a] -> Put

(Default a, KnownNat n) => Default (ROSFixedArray n a)

Methods

def :: ROSFixedArray n a

newtype ROSArray a

A type for arrays in ROS messages

Constructors

ROSArray

Fields

• unArray :: Array a

Instances

Functor ROSArray

Methods

fmap :: (a -> b) -> ROSArray a -> ROSArray b

(<$) :: a -> ROSArray b -> ROSArray a

Applicative ROSArray

Methods

pure :: a -> ROSArray a

(<*>) :: ROSArray (a -> b) -> ROSArray a -> ROSArray b

(*>) :: ROSArray a -> ROSArray b -> ROSArray b

(<*) :: ROSArray a -> ROSArray b -> ROSArray a

Eq a => Eq (ROSArray a)

Methods

(==) :: ROSArray a -> ROSArray a -> Bool

(/=) :: ROSArray a -> ROSArray a -> Bool

Data a => Data (ROSArray a)

Methods

gfoldl :: (forall d b. Data d => c (d -> b) -> d -> c b) -> (forall g. g -> c g) -> ROSArray a -> c (ROSArray a)

gunfold :: (forall b r. Data b => c (b -> r) -> c r) -> (forall r. r -> c r) -> Constr -> c (ROSArray a)

toConstr :: ROSArray a -> Constr

dataTypeOf :: ROSArray a -> DataType

dataCast1 :: Typeable (* -> *) t => (forall d. Data d => c (t d)) -> Maybe (c (ROSArray a))

dataCast2 :: Typeable (* -> * -> *) t => (forall d e. (Data d, Data e) => c (t d e)) -> Maybe (c (ROSArray a))

gmapT :: (forall b. Data b => b -> b) -> ROSArray a -> ROSArray a

gmapQl :: (r -> r' -> r) -> r -> (forall d. Data d => d -> r') -> ROSArray a -> r

gmapQr :: (r' -> r -> r) -> r -> (forall d. Data d => d -> r') -> ROSArray a -> r

gmapQ :: (forall d. Data d => d -> u) -> ROSArray a -> [u]

gmapQi :: Int -> (forall d. Data d => d -> u) -> ROSArray a -> u

gmapM :: Monad m => (forall d. Data d => d -> m d) -> ROSArray a -> m (ROSArray a)

gmapMp :: MonadPlus m => (forall d. Data d => d -> m d) -> ROSArray a -> m (ROSArray a)

gmapMo :: MonadPlus m => (forall d. Data d => d -> m d) -> ROSArray a -> m (ROSArray a)

Ord a => Ord (ROSArray a)

Methods

compare :: ROSArray a -> ROSArray a -> Ordering

(<) :: ROSArray a -> ROSArray a -> Bool

(<=) :: ROSArray a -> ROSArray a -> Bool

(>) :: ROSArray a -> ROSArray a -> Bool

(>=) :: ROSArray a -> ROSArray a -> Bool

max :: ROSArray a -> ROSArray a -> ROSArray a

min :: ROSArray a -> ROSArray a -> ROSArray a

Show a => Show (ROSArray a)

Methods

showsPrec :: Int -> ROSArray a -> ShowS

show :: ROSArray a -> String

showList :: [ROSArray a] -> ShowS

Monoid (ROSArray a)

Methods

mempty :: ROSArray a

mappend :: ROSArray a -> ROSArray a -> ROSArray a

mconcat :: [ROSArray a] -> ROSArray a

Binary a => Binary (ROSArray a)

Methods

put :: ROSArray a -> Put

get :: Get (ROSArray a)

putList :: [ROSArray a] -> Put

Default (ROSArray a)

Methods

def :: ROSArray a

Time description

type ROSDuration = (Int32, Int32)

ROSDuration is a tuple of (seconds, nanoseconds)

type ROSTime = (Word32, Word32)

ROSTime is a tuple of (seconds, nanoseconds)