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<a style="color:#888;font-size:22px;font-family:Arial, Helvetica, sans-serif;font-weight:normal;text-decoration:none;" href="http://blog.rock-robotics.org/" title="(http://blog.rock-robotics.org/)">Rock/ROS integration, part 1</a>
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<a name="1" style="font-family:Arial, Helvetica, sans-serif;font-size:18px;" href="http://blog.rock-robotics.org/post/34755979078">Rock/ROS integration, part 1</a>
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<span>Posted:</span> 01 Nov 2012 05:19 AM PDT</p>
<div style="margin:0;font-family:Georgia,Helvetica,Arial,Sans-Serif;line-height:140%;font-size:13px;color:#000000;"><p>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.</p>
<p><!-- more --></p>
<p>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.</p>
<p>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).</p>
<p>Demonstration:</p>
<pre>[~/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 </pre>
<p><img src="http://media.tumblr.com/tumblr_mct63qyiMg1qb40h6.png"/></p>
<p>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.</p></div>
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