Rock/ROS integration, part 1

Rock/ROS integration, part 1 <http://blog.rock-robotics.org/>
<http://fusion.google.com/add?source=atgs&feedurl=http://feeds.feedburner.com/rock-robotics/MMgF>

------------------------------------------------------------------------

Rock/ROS integration, part 1
<http://blog.rock-robotics.org/post/34755979078>

Posted: 01 Nov 2012 05:19 AM PDT

So ... here's the first of, hopefully not so many posts, about the
Rock/ROS integration. Namely, we can now (almost) publish ports from
Rock components on ROS --- without changing a line of code in existing
Rock components.

This first part is about getting the Rock data on ROS topics. Direct
benefit for Rock: Python, and LISP programmers can read and write data
from/to ports of Rock components out of the box. Of course, it is only a
first step.

So, where are we so far ? oroGen can generate ROS message descriptions
and the transport compile and work fine. The convertion code between the
Rock data structures and ROS messages is not done yet (i.e. the messages
are currently empty at runtime).

Demonstration:

[~/dev/rock-ros]% cat test.rb
require 'orocos'
Orocos.run 'message_producer::Task' => 'task' do
task = Orocos::TaskContext.get 'task'
task.configure
task.start
task.messages.create_stream(Orocos::TRANSPORT_ROS, '/test')
sleep
end
[~/dev/rock-ros]% ruby1.9.1 test.rb
[~/dev/rock-ros]% rxgraph

Next step: convert between existing Rock types and existing ROS
messages. I.e. being able to make tf and base/samples/RigidBodyState
talk to each other.

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Rock/ROS integration, part 1

Op vrijdag 2 november 2012 schreef Sylvain Joyeux (sylvain [dot] joyeux [..] ...)
het volgende:

> Rock/ROS integration, part 1 <http://blog.rock-robotics.org/>
>
> <http://fusion.google.com/add?source=atgs&feedurl=http://feeds.feedburner.com/rock-robotics/MMgF>
> ------------------------------
>
> Rock/ROS integration, part 1<http://blog.rock-robotics.org/post/34755979078>
>
> Posted: 01 Nov 2012 05:19 AM PDT
>
> So … here’s the first of, hopefully not so many posts, about the Rock/ROS
> integration. Namely, we can now (almost) publish ports from Rock components
> on ROS — without changing a line of code in existing Rock components.
>
> This first part is about getting the Rock data on ROS topics. Direct
> benefit for Rock: Python, and LISP programmers can read and write data
> from/to ports of Rock components out of the box. Of course, it is only a
> first step.
>
> So, where are we so far ? oroGen can generate ROS message descriptions and
> the transport compile and work fine. The convertion code between the Rock
> data structures and ROS messages is not done yet (i.e. the messages are
> currently empty at runtime).
>
> Demonstration:
>
> [~/dev/rock-ros]% cat test.rb
> require 'orocos'
> Orocos.run 'message_producer::Task' => 'task' do
> task = Orocos::TaskContext.get 'task'
> task.configure
> task.start
> task.messages.create_stream(Orocos::TRANSPORT_ROS, '/test')
> sleep
> end
> [~/dev/rock-ros]% ruby1.9.1 test.rb
> [~/dev/rock-ros]% rxgraph
>
> Next step: convert between existing Rock types and existing ROS
> messages. I.e. being able to make tf and base/samples/RigidBodyState talk
> to each other.
>

We also support the __name:=nodename command line arguments in case you
wish to replace rtt_1351... With a meaningful name:

http://www.ros.org/wiki/Nodes#Remapping_Arguments.Node_parameter_assignment

Peter

Rock/ROS integration, part 1

2012/11/2 Peter Soetens <peter [..] ...>

>
>
> Op vrijdag 2 november 2012 schreef Sylvain Joyeux (sylvain [dot] joyeux [..] ...)
> het volgende:
>
> Rock/ROS integration, part 1 <http://blog.rock-robotics.org/>
>>
>> <http://fusion.google.com/add?source=atgs&feedurl=http://feeds.feedburner.com/rock-robotics/MMgF>
>> ------------------------------
>>
>> Rock/ROS integration, part 1<http://blog.rock-robotics.org/post/34755979078>
>>
>> Posted: 01 Nov 2012 05:19 AM PDT
>>
>> So … here’s the first of, hopefully not so many posts, about the Rock/ROS
>> integration. Namely, we can now (almost) publish ports from Rock components
>> on ROS — without changing a line of code in existing Rock components.
>>
>> This first part is about getting the Rock data on ROS topics. Direct
>> benefit for Rock: Python, and LISP programmers can read and write data
>> from/to ports of Rock components out of the box. Of course, it is only a
>> first step.
>>
>> So, where are we so far ? oroGen can generate ROS message descriptions
>> and the transport compile and work fine. The convertion code between the
>> Rock data structures and ROS messages is not done yet (i.e. the messages
>> are currently empty at runtime).
>>
>> Demonstration:
>>
>> [~/dev/rock-ros]% cat test.rb
>> require 'orocos'
>> Orocos.run 'message_producer::Task' => 'task' do
>> task = Orocos::TaskContext.get 'task'
>> task.configure
>> task.start
>> task.messages.create_stream(Orocos::TRANSPORT_ROS, '/test')
>> sleep
>> end
>> [~/dev/rock-ros]% ruby1.9.1 test.rb
>> [~/dev/rock-ros]% rxgraph
>>
>> Next step: convert between existing Rock types and existing ROS
>> messages. I.e. being able to make tf and base/samples/RigidBodyState talk
>> to each other.
>>
>

Hi Sylvain,

Looks great! A few questions about it:

Where is this integration actually implemented?
In the orogen magic?
In typelib/typegen?
Is this back-portable to Orocos?
How is this related to the developments in RTT master-flexiport branch?

Charles.

>
> We also support the __name:=nodename command line arguments in case you
> wish to replace rtt_1351... With a meaningful name:
>
>
> http://www.ros.org/wiki/Nodes#Remapping_Arguments.Node_parameter_assignment
>
> Peter
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>

Rock/ROS integration, part 1

On 11/05/2012 09:25 AM, Charles Lesire-Cabaniols wrote:
>
>
> 2012/11/2 Peter Soetens <peter [..] ...
> <mailto:peter [..] ...>>
>
>
>
> Op vrijdag 2 november 2012 schreef Sylvain Joyeux
> (sylvain [dot] joyeux [..] ... <mailto:sylvain [dot] joyeux [..] ...>) het
> volgende:
>
>
> Rock/ROS integration, part 1 <http://blog.rock-robotics.org/>
> <http://fusion.google.com/add?source=atgs&feedurl=http://feeds.feedburner.com/rock-robotics/MMgF>
>
>
>
>
> ------------------------------------------------------------------------
>
> Rock/ROS integration, part 1
> <http://blog.rock-robotics.org/post/34755979078>
>
> Posted: 01 Nov 2012 05:19 AM PDT
>
> So … here’s the first of, hopefully not so many posts, about
> the Rock/ROS integration. Namely, we can now (almost) publish
> ports from Rock components on ROS — without changing a line of
> code in existing Rock components.
>
> This first part is about getting the Rock data on ROS topics.
> Direct benefit for Rock: Python, and LISP programmers can read
> and write data from/to ports of Rock components out of the
> box. Of course, it is only a first step.
>
> So, where are we so far ? oroGen can generate ROS message
> descriptions and the transport compile and work fine. The
> convertion code between the Rock data structures and ROS
> messages is not done yet (i.e. the messages are currently
> empty at runtime).
>
> Demonstration:
>
> [~/dev/rock-ros]% cat test.rb
> require 'orocos'
> Orocos.run 'message_producer::Task' => 'task' do
> task = Orocos::TaskContext.get 'task'
> task.configure
> task.start
> task.messages.create_stream(Orocos::TRANSPORT_ROS, '/test')
> sleep
> end
> [~/dev/rock-ros]% ruby1.9.1 test.rb
> [~/dev/rock-ros]% rxgraph
>
> Next step: convert between existing Rock types and existing
> ROS messages. I.e. being able to make tf and
> base/samples/RigidBodyState talk to each other.
>
>
>
> Hi Sylvain,
>
> Looks great! A few questions about it:
>
> Where is this integration actually implemented?
oroGen + some parts of rtt_integration moved into a ros transport
generic library, and extended (which could be used "manually").
> In the orogen magic?
> In typelib/typegen?
The right association would be typelib or orogen/typegen. typeGen *is* a
subset of oroGen. So, in oroGen.
> Is this back-portable to Orocos?
It is part of the orocos toolchain as soon as I merge my changes to the
orocos-toolchain repositories. In other words, it requires nothing in
packages that are not part of the orocos toolchain.
> How is this related to the developments in RTT master-flexiport branch?
OK ... I gave it a thought this week end. A *full* ROS transport, in
which people can publish or subscribe oroGen-registered data types on
*existing* ROS messages (i.e. base/samples/RigidBodyState on tf for
instance) does *not* require flexiport.

What flexiport will bring to the table is:
* related to ROS: the ability to map a given oroGen-registered data
type to various ROS transports
* in general: the ability to do type slicing in general, and in
particular to properly support subclassing (i.e. send a Pose type to an
Orientation port for instance).
>
> Charles.
>
>
> We also support the __name:=nodename command line arguments in
> case you wish to replace rtt_1351... With a meaningful name:
>
I am not using the rtt_integration stuff (even though everything will
work with it ...). oroGen currently initializes ROS itself in its
deployments. In any case, the problem is to find a proper *unique* name.
That would be part of the full rock integration (i.e. of the ability to
run ROS nodes and RTT components from within Rock seamlessly).

Rock/ROS integration, part 1

\o/

This is a great step to help Rock integration in my system :D.

2012/11/2 Sylvain Joyeux <sylvain [dot] joyeux [..] ...>

> Rock/ROS integration, part 1 <http://blog.rock-robotics.org/>
>
> <http://fusion.google.com/add?source=atgs&feedurl=http://feeds.feedburner.com/rock-robotics/MMgF>
> ------------------------------
>
> Rock/ROS integration, part 1<http://blog.rock-robotics.org/post/34755979078>
>
> Posted: 01 Nov 2012 05:19 AM PDT
>
> So … here’s the first of, hopefully not so many posts, about the Rock/ROS
> integration. Namely, we can now (almost) publish ports from Rock components
> on ROS — without changing a line of code in existing Rock components.
>
> This first part is about getting the Rock data on ROS topics. Direct
> benefit for Rock: Python, and LISP programmers can read and write data
> from/to ports of Rock components out of the box. Of course, it is only a
> first step.
>
> So, where are we so far ? oroGen can generate ROS message descriptions and
> the transport compile and work fine. The convertion code between the Rock
> data structures and ROS messages is not done yet (i.e. the messages are
> currently empty at runtime).
>
> Demonstration:
>
> [~/dev/rock-ros]% cat test.rb
> require 'orocos'
> Orocos.run 'message_producer::Task' => 'task' do
> task = Orocos::TaskContext.get 'task'
> task.configure
> task.start
> task.messages.create_stream(Orocos::TRANSPORT_ROS, '/test')
> sleep
> end
> [~/dev/rock-ros]% ruby1.9.1 test.rb
> [~/dev/rock-ros]% rxgraph
>
> Next step: convert between existing Rock types and existing ROS
> messages. I.e. being able to make tf and base/samples/RigidBodyState talk
> to each other.
>
>
>
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>