Fwd: [ros-users] Orocos and ROS intercommunication

---------- Forwarded message ----------
From: Ruben Smits <ruben [dot] smits [..] ...>
Date: Fri, May 29, 2009 at 5:05 PM
Subject: Re: [Orocos-Dev] [ros-users] Orocos and ROS intercommunication
To: Peter Soetens <Peter [dot] Soetens [..] ...>

On Fri, May 29, 2009 at 1:59 PM, Peter Soetens
<Peter [dot] Soetens [..] ...> wrote:
> On Fri, May 29, 2009 at 20:58, Ruben Smits <ruben [dot] smits [..] ...> wrote:
>> Ok, i got it working,
>
> Nice work Ruben ! And pretty damn fast. The Orocos community will be eternally
> grateful for exposing this new operating system to our components.
>
>>
>> check the following http://pr.willowgarage.com/wiki/rtt_ros_integration
>> about more information. I could succesfully and automatically (at
>> runtime) create the mapping layer for an example component. The
>> example shows how to get information out of RTT to ROS and the other
>> way around.
>>
>> I could use rxplot to visualize the outcoming data, without further adjustments.
>
> I'm eager to see these tools in action when you come back to Leuven :-)
>
>>
>> The usage is very simple, use the rosdeployer like you would use the
>> standard deployer and add the following line for you component struct:
>>
>>  <simple name="CreateRosNode" type="boolean"><value>1</value></simple>
>
> Ok, this is similar to exporting an Orocos component to CORBA.
>
>>
>> If your types and the conversions are added to the RosToolkit you are
>> ready to go.
>
> Could you provide us a link where to find your code exactly ?

it is located in one of the branches of the ros-pkg repository which
is on sourceforge:

 http://personalrobots.svn.sourceforge.net/svnroot/personalrobots/pkg/branches/new_kdl_branch/

in the orocos_ros_integration directory

I have done some local changes on the deployer to add the new
deployer-option. But if you build ocl from the 3rdparty packages of
the ros-pkg it will apply the needed patches.

> How's KDL going ? Since you have this amount of spare time to spend
> on RTT, it must be in pretty good shape :)

The inverse dynamics algorithm is fully implemented and verified for a
general chain. I think we need one of the face2face discussion we used
to have to discuss a full release.

> Peter
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