raimdelgado / ros_pipe Goto Github PK

Hi, I'm currently trying to build a application binding Xenomai RT threads to ROS NRT nodes, and I'm facing difficulties when it comes to exchanging floating points :

Note that I am not using rt_read but rcvfrom !

A snippet :

// ROS Side
char fwd_buffer[64];
sprintf(fwd_buffer, "%.2f %.2f %.2f", px, py, oz);
// Printf fwd_buffer returns "2.10 3.80 6.40" => usable floats 
this->ret = write(this->fd, fwd_buffer, this->ret);
if (this->ret <= 0) this->fail("write");

// Xenomai Side
float l_dist = 0., f_dist = 0., r_dist = 0.
ret = recvfrom(s, buf, sizeof(buf), 0, NULL, 0);
if (ret <= 0) fail("recvfrom");
sscanf(buf, "%f %f %f", &l_dist, &f_dist, &r_dist);
rt_printf("%s   => [%.2f | %.2f | %.2f] echoed by peer\n", __FUNCTION__, l_dist, f_dist, r_dist);

Turns out rt_printf only prints the first float, because the buffer buf only contains the first float and the first space...

Not sure why the buffer is not fully charged by what was send by the ROS node when calling recvfrom, and I'm seeking guidance, since you basically did something very similar !

Thanks !