ROS message generator binaries

This use rosmsg and rospkg libraries for browsing and generate Haskell native package from ROS message package.

Install

$ git clone https://github.com/RoboticsHS/rosmsg-bin
$ cd rosmsg-bin
$ stack build

Fun

Single package without deps

$ ./.stack-work/install/x86_64-linux/lts-6.16/7.10.3/bin/genhs std_msgs
$ cd std-msgs 
$ stack build

$ stack ghci
> import Data.Default
> let m = def :: Int64MultiArray 
> m
Int64MultiArray {_layout = MultiArrayLayout {_dim = ROSArray {unArray = []}, _data_offset = 0}, __data = ROSArray {unArray = []}}
> getType m
"std_msgs/Int64MultiArray"
> getSource m
"MultiArrayLayout layout\nint64[] data"
> getDigest m
54865aa6c65be0448113a2afc6a49270

Package with deps

$ ./.stack-work/install/x86_64-linux/lts-6.16/7.10.3/bin/rospkg deps sensor_msgs
Build depend:
["geometry_msgs","message_generation","std_msgs"]
Run depend:
["geometry_msgs","message_runtime","std_msgs"

$ ./.stack-work/install/x86_64-linux/lts-6.16/7.10.3/bin/genhs std_msgs
$ ./.stack-work/install/x86_64-linux/lts-6.16/7.10.3/bin/genhs geometry_msgs 
$ ./.stack-work/install/x86_64-linux/lts-6.16/7.10.3/bin/genhs sensor_msgs
$ cd sensor_msgs 
$ stack build

$ stack ghci
> let m = def :: CameraInfo
CameraInfo {_header = Header {_seq = 0, _stamp = (0,0), _frame_id = ""}, _height = 0, _width = 0, _distortion_model = "", _d = ROSArray {unArray = []}, _k = ROSFixedArray {unFixedArray = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]}, _r = ROSFixedArray {unFixedArray = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]}, _p = ROSFixedArray {unFixedArray = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]}, _binning_x = 0, _binning_y = 0, _roi = RegionOfInterest {_x_offset = 0, _y_offset = 0, _height = 0, _width = 0, _do_rectify = False}}
> getDigest m
c9a58c1b0b154e0e6da7578cb991d214

Play with Lens

> import Lens.Family2

> import Robotics.ROS.Msg.Geometry_msgs.Vector3 as V
> let v = def :: Vector3
> view V.x v
0.0
> over V.x (+ 1) v
Vector3 {_x = 1.0, _y = 0.0, _z = 0.0}

> import Robotics.ROS.Msg.Geometry_msgs.PoseWithCovarianceStamped as PCS
> import Robotics.ROS.Msg.Geometry_msgs.PoseWithCovariance as PC
> import Robotics.ROS.Msg.Geometry_msgs.Pose as Pose

> let p = def :: PoseWithCovarianceStamped
> view (PCS.pose . PC.covariance ) p
ROSFixedArray {unFixedArray = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]}

> PCS.pose . PC.pose . Pose.orientation . w .~ 1 $ p
PoseWithCovarianceStamped {_header = Header {_seq = 0, _stamp = (0,0), _frame_id = ""}, _pose = PoseWithCovariance {_pose = Pose {_position = Point {_x = 0.0, _y = 0.0, _z = 0.0}, _orientation = Quaternion {_x = 0.0, _y = 0.0, _z = 0.0, _w = 1.0}}, _covariance = ROSFixedArray {unFixedArray = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]}}}

> PCS.header . frame_id  .~ "base_link" $ p
PoseWithCovarianceStamped {_header = Header {_seq = 0, _stamp = (0,0), _frame_id = "base_link"}, _pose = PoseWithCovariance {_pose = Pose {_position = Point {_x = 0.0, _y = 0.0, _z = 0.0}, _orientation = Quaternion {_x = 0.0, _y = 0.0, _z = 0.0, _w = 0.0}}, _covariance = ROSFixedArray {unFixedArray = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]}}}