[Rock-dev] Rock/ROS integration, part 1

[Rock]

Rock

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Rock/ROS integration, part 1

Posted: 01 Nov 2012 05:19 AM PDT
http://blog.rock-robotics.org/post/34755979078


So  heres 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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