Only released in EOL distros:
Package Summary
rtt_ros_integration provides an RTT plugin to add a ROS node to the RTT process, and the necessary template files and cmake macros for automatic rtt typekit and transport generation from ROS msg files
- Author: Ruben Smits, ruben.smits@mech.kuleuven.be
- License: BSD
- Repository: kul-ros-pkg
- Source: git http://git.mech.kuleuven.be/robotics/orocos_toolchain_ros.git
Package Summary
This stack contains all software necessary to build systems using both Orocos and ROS infrastructures. It depends on the Orocos Toolchain. The rtt_rosnode package allows easy communication between Orocos components and ROS nodes.
- Author: Maintained by Ruben Smits - Steven Bellens
- License: GPL,BSD,LGPL,GPL + runtime exception
- Source: git http://git.mech.kuleuven.be/robotics/rtt_ros_integration.git (branch: master)
Package Summary
This stack contains all software necessary to build systems using both Orocos and ROS infrastructures. It depends on the Orocos Toolchain. The rtt_rosnode package allows easy communication between Orocos components and ROS nodes.
- Author: Maintained by Ruben Smits - Steven Bellens
- License: GPL,BSD,LGPL,GPL + runtime exception
- Source: git https://github.com/orocos/rtt_ros_integration.git (branch: groovy-devel)
Package Summary
This stack contains all software necessary to build systems using both Orocos and ROS infrastructures
- Maintainer status: developed
- Maintainer: Orocos Developers <orocos-dev AT lists.mech.kuleuven DOT be>
- Author: Ruben Smits, Steven Bellens, Jonathan Boren, Johannes Meyer
- License: GPL, BSD, LGPL, GPL + runtime exception
- Bug / feature tracker: https://github.com/orocos/rtt_ros_integration/issues
- Source: git https://github.com/orocos/rtt_ros_integration.git (branch: hydro-devel)
Package Summary
This stack contains all software necessary to build systems using both Orocos and ROS infrastructures
- Maintainer status: maintained
- Maintainer: Orocos Developers <orocos-dev AT lists.mech.kuleuven DOT be>
- Author: Ruben Smits, Steven Bellens, Jonathan Boren, Johannes Meyer
- License: GPL, BSD, LGPL, GPL + runtime exception
- Bug / feature tracker: https://github.com/orocos/rtt_ros_integration/issues
- Source: git https://github.com/orocos/rtt_ros_integration.git (branch: indigo-devel)
Package Summary
This stack contains all software necessary to build systems using both Orocos and ROS infrastructures
- Maintainer status: maintained
- Maintainer: Orocos Developers <orocos-dev AT lists.mech.kuleuven DOT be>
- Author: Ruben Smits, Steven Bellens, Jonathan Boren, Johannes Meyer
- License: GPL, BSD, LGPL, GPL + runtime exception
- Bug / feature tracker: https://github.com/orocos/rtt_ros_integration/issues
- Source: git https://github.com/orocos/rtt_ros_integration.git (branch: jade-devel)
Package Summary
This stack contains all software necessary to build systems using both Orocos and ROS infrastructures
- Maintainer status: maintained
- Maintainer: Orocos Developers <orocos-dev AT orocos DOT org>
- Author: Ruben Smits, Steven Bellens, Jonathan Boren, Johannes Meyer
- License: BSD
- Bug / feature tracker: https://github.com/orocos/rtt_ros_integration/issues
- Source: git https://github.com/orocos/rtt_ros_integration.git (branch: toolchain-2.9)
Package Summary
This stack contains all software necessary to build systems using both Orocos and ROS infrastructures
- Maintainer status: maintained
- Maintainer: Orocos Developers <orocos-dev AT lists.mech.kuleuven DOT be>
- Author: Ruben Smits, Steven Bellens, Jonathan Boren, Johannes Meyer
- License: GPL, BSD, LGPL, GPL + runtime exception
- Bug / feature tracker: https://github.com/orocos/rtt_ros_integration/issues
- Source: git https://github.com/orocos/rtt_ros_integration.git (branch: toolchain-2.9)
Usage
To set up communication between RTT and ROS:
- Generate the RTT typekit for the ROS message you want to use:
rtt_ros_integration_std_msgs is such a typekit for std_msgs - other typekits for the most commonly used ROS messages are included as well.
- other typekits can be generated by adding the following code in your CMakeLists.txt
rosbuild_include(rtt_ros_integration GenerateRTTtypekit) ros_generate_rtt_typekit(MsgPackageName)
Add the dependency on rtt_ros_integration and your MsgPackageName in your manifest and export the include folder as compiler flags:
<depend package="rtt_ros_integration"/>
<depend package="MsgPackageName"/>
<export>
<cpp cflags="-I${prefix}/include"/>
</export>IMPORTANT: if the message depends on other non std_msgs, you have to generate the typekit for those messages as well! The compile process will complain it cannot find the corresponding message header files otherwise.
- Include the message header in your RTT component:
#include <MsgPackageName/MsgName>
to fill in or read out the ROS Message in your C++ code.
Import the ROS plugin and add a ConnPolicy structure to your RTT deployer configuration
<simple name="Import" type="string"><value>rtt_ros_integration</value></simple> <struct name="ROSConMsg" type="ConnPolicy"> <simple name="transport" type="short"><value>3</value></simple><!-- 3 means ROS --/> <simple name="name_id" type="string"><value>topic_name</value></simple> </struct>
Link you RTT Components Port to the ConnPolicy structure you just set up:
<struct name="Ports" type="PropertyBag"> <simple name="YourRTTPortName" type="string"><value> RosConMsg </value></simple> </struct>
Done, your RTT component can now connects its ports to ROS topics! To test, start a ROS::master, deploy your component and investigate the published nodes with rxgraph
Example
The rtt_ros_integration_example package contains an example RTT component to demonstrate the use of this package.
