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<!DOCTYPE html>
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<head>
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<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
<title>The ROS Framework at a Glance</title>
<meta name="description" content="ROS Framework presentation for fOSSa 2012" />
<meta name="author" content="Rémi Barraquand & Amaury Negre" />
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<body>
<article class="deck-container">
<!--##########################################################################
##
## Slides
##
###########################################################################-->
<section class="slide center hide-toc-status" id="title-slide">
<h1>The <em>R</em>obotic <em>O</em>perating <em>S</em>ystem at a Glance</h1>
<p class="subtitle">Introduction, Showcases, Demonstration and Perspectives.</p>
<figure class="ros"><img src="media/ROS.png" alt="Robotic Operating System" /></figure>
<figure class="institute">
<a href="http://inria.fr"><img src="media/inria_logo.jpg" /></a>
<a href="http://cnrs.fr"><img src="media/cnrs_logo.jpg" /></a>
<a href="http://liglab.fr"><img src="media/lig_logo.jpg" /></a>
</figure>
<p class="info">
<em><HTML5></em> presentation realized with <a href="http://imakewebthings.com/deck.js/">deck.js</a> and hosted on <a href="http://barraq.github.com/fOSSa2012/slides.html">github</a>
</p>
</section>
<section class="slide tabular center hide-toc-status">
<div class="subbox vcenter">
<p class="large" style="font-weight: normal">this is an <em>HTML5</em> presentation realized with the open source framework <a href="http://imakewebthings.com/deck.js/">deck.js</a> and <a href="https://github.com/barraq/deck.ext.js">deck.ext.js</a></p></br/>
<p class="large" style="font-weight: normal">this presentation is <em>hosted on Github</em> at <a href="http//github.com/barraq/fOSSa2012">https://github.com/barraq/fOSSa2012</a></p></br/>
<p class="large" style="font-weight: normal">this presentation is <em>served by Github</em> at <a href="http://barraq.github.com/fOSSa2012/slides.html">http://barraq.github.com/fOSSa2012/slides.html</a></p>
</div>
</section>
<section class="slide hide-toc-status center tabular">
<div class="subbox vcenter">
<div class="bio"><figure><img src="media/Barraquand.png" /></figure><em>Rémi BARRAQUAND</em> is currently an Expert R&D Engineer at <a href="http://www.inria.fr/centre/grenoble">INRIA</a>. He graduated from the <a href="http://www.grenoble-inp.fr/">Grenoble Institute of Technology (Grenoble INP)</a> in 2007, with a major in Graphics, Vision and Robotics. He then received his PhD degree in computer science from the Grenoble University for his work on the design of sociable technologies. <a href="http://remibarraquand.com">http://remibarraquand.com</a></div>
<div class="bio"><figure><img src="media/Negre.jpg" /></figure><em>Amaury NEGRE</em> is a Research Engineer at <a href="http://cnrs.fr">CNRS</a> since 2008. He graduated from the <a href="http://www.grenoble-inp.fr/">Grenoble Institute of Technology (Grenoble INP)</a> in 2005, with a major in image processing. Then he received his
PhD degree in vision and robotics from INPG in 2009 for his work on vision based obstacle detection for mobile robots. Now he is with the <a href="http://liglab.fr">Grenoble Informatics Laboratory (LIG)</a> and offers engineering support in experimental robotics and ambient intelligence.</div>
</div>
</section>
<!--##########################################################################
## Outline :
##
## Introduction to ROS
## What is ROS
## Concepts
## Tools
## Getting Started with ROS
## ROS C++, java, python, android
## Show Cases
## Smartroom, iKio, PAL, Lexus, ?
## Demo
###########################################################################-->
<section class="slide hide-toc-status">
<h2 class="hidden">Presentation Overview</h2>
<div class="splitbox">
<div class="stubbox">
<span class="title">Plan</span>
<div class="content large">Presentation Overview</div>
</div>
<div class="splitbox-row">
<div class="full text-padding normal-text">
<ul class="fadded">
<li class="selected">Introduction to ROS
<ul>
<li>Motivation for ROS</li>
<li>What is (not) ROS</li>
<li>ROS Concept</li>
<li>ROS Tools</li>
</ul>
</li>
<li class="selected">Getting Started with ROS
<ul>
<li>C++</li>
<li>Python</li>
<li>Java</li>
</ul>
</li>
<li class="selected">Show Cases
<ul>
<li>Personally Assisted Living</li>
<li>Perception for on road vehicle</li>
<li>Robot Prototyping</li>
</ul>
</li>
<li class="selected">Conclusion and Perspectives</li>
<li class="selected">Live Demonstration</li>
</ul>
</div>
</div>
</div>
<div class="background bottom-right">
<img src="media/overview_path.jpg">
</div>
</section>
<!--##########################################################################
##
## PART I.
##
###########################################################################-->
<section class="slide tabular vcenter hide-toc-status">
<p class="emphasis large">What are the <em>motivations</em> for a common robotic infrastructure?</p>
</section>
<section class="slide">
<h2>Introduction to ROS</h2>
<h3>Motivation for ROS</h3>
<div class="slide-title">Motivation for a Common Robotic Infrastructure</div>
<div class="slide-content">
<p class="large">A <strong>Robot</strong> is a <em>composition</em> of different components</p>
<ul class="normal-text">
<li>Hardware components
<ul>
<li>Computational Units (FPGA, PC, Microcontroller, …)</li>
<li>Actuators (Motor, …)</li>
<li>Sensors (Camera, IR, LIDAR, …)</li>
</ul>
</li>
<li>Software components
<ul>
<li>Hardware drivers</li>
<li>Robot servoing</li>
<li>Perception</li>
</ul>
</li>
</ul>
<figure class="center">
<img src="media/bioloid_robot_parts.jpg" height="200px"/>
<img src="media/bioloid_robot_humanoid.jpg" height="200px" />
</figure>
</div>
</section>
<section class="slide">
<div class="slide-title">Motivation for a Common Robotic Infrastructure</div>
<div class="slide-content">
<p class="large">A <strong>Robotic application</strong> is an <em>interconnection</em> of components</p>
<ul class="normal-text">
<li>Heterogenous components
<ul>
<li>Cross-language</li>
<li>Cross-platform</li>
</ul>
</li>
<li>Distributed components
<ul>
<li>Multi-robots</li>
<li>Multi-PC</li>
<li>Multi-network</li>
</ul>
</li>
<li>Dynamic components
<ul>
<li>Appear, Disappear (mobility)</li>
<li>Crash, Evolve</li>
</ul>
</li>
</ul><br/>
<p class="large">Both <strong>Robots</strong> and a <strong>Robotic Applications</strong> are an <em>assemblage of many other people's components</em></p>
</div>
</section>
<section class="slide tabular vcenter">
<p class="emphasis large">
⇒ Need for a common <em>R</em>obotic <em>O</em>perating <em>S</em>ystem<br/>
</p>
</section>
<section class="slide tabular vcenter">
<figure class="emphasis large">
<img src="media/ROS.png" alt="Robotic Operating System"/>
</figure>
</section>
<!--#############################################################-->
<section class="slide tabular vcenter hide-toc-status">
<p class="emphasis large">What is ROS?</p>
</section>
<section class="slide">
<h3><em>What is</em> (not) <em>ROS</em></h3>
<div class="slide-title"> What is ROS</div>
<div class="slide-content">
<p class="large"><em>ROS</em> is a 'Meta' Operating System for Robotics Applications</p>
<ul class="normal-text">
<li>An open source robotics framework
<ul>
<li>Maintained by <a href="www.willowgarage.com/">Willow Garage</a> (PR2, TurtleBot, ROS, OpenCV, PCL, …)</li>
<li>Cross-platform (<em>Ubuntu</em>, OSx, Windows, Android, …)</li>
<li>Cross-language (<em>C/C++, Python</em>, Java, …)</li>
</ul>
</li>
<li>An architecture for distributed inter-process/inter-machine communication and configuration
<ul>
<li>Object like message wrapping/unwrapping</li>
<li>Message passing (Publisher/Subscriber, RPC)</li>
<li>Graph node communication with master node</li>
<li>Centralized configuration</li>
</ul>
</li>
<li>A collection of tools
<ul>
<li>packaging, dependency/build management, shell introspection, …</li>
<li>runtime tools, data analysis, graphic user interfaces, …</li>
</ul>
</li>
<li>A Large community <span class="normal">with thousand (and counting) existing modules</span></li>
</ul>
</div>
</section>
<!--#############################################################-->
<section class="slide tabular vcenter hide-toc-status">
<p class="emphasis large">What ROS is not?</p>
</section>
<section class="slide">
<div class="slide-title">What ROS is not</div>
<div class="slide-content">
<ul class="normal-text">
<li>Not an operating system, <span class="normal">instead runs on</span>
<ul>
<li>Ubuntu (official)</li>
<li>Windows, OS X, Fedora, Android (experimental)
</ul>
</li>
<li>Not a programming language
<ul>
<li>C++, Python (official)</li>
<li>Java+Android, Octave, … (experimental)</li>
</ul>
</li>
<li>Not a programming environment <span class="normal">but a programming toolkit</span></li>
<li>Not a hard real time architecture</li>
<li>Not designed for embedded systems <span class="normal">(refer to <a href="http://www.ros.org/wiki/rosserial">rosserial</a>)</span></li>
</ul>
</div>
</section>
<!--#############################################################-->
<section class="slide tabular vcenter hide-toc-status">
<p class="emphasis large">ROS Concepts</p>
</section>
<section class="slide">
<h3>ROS Concepts</h3>
<div class="slide-title">Nodes Graph</div>
<div class="slide-content">
<p class="large">A ROS application is a <em>graph of nodes</em></p>
<ul class="normal-text">
<li><em>Node</em> = a process that used the ROS framework</li>
<li>Different Nodes may reside in the same or different machines transparently</li>
<li>Nodes get to know one another via <em>rosmaster</em></li>
</ul>
<figure>
<img src="media/graph_node.png" />
</figure>
</div>
</section>
<section class="slide">
<div class="slide-title">Nodes Communication</div>
<div class="slide-content">
<p class="large"><em>Nodes</em> in this graph <em>communicate using two protocols</em></p>
<div class="splitbox">
<div class="splitbox-row">
<div class="onehalf">
<ul class="normal-text">
<li><em>Topics</em>
<ul>
<li><em>asynchronous</em>,</li>
<li>data flow, message passing,</li>
<li>typed by a Ros Message (<em>message.msg</em>); </li>
</ul>
</li>
</ul>
</div>
<div class="onehalf">
<ul>
<li><em>Services</em>
<ul>
<li><em>synchronous</em>,</li>
<li>remote procedure call (Request --- Answer messages),</li>
<li>typed by a Ros Service (<em>service.srv</em>);</li>
</ul>
</li>
</ul>
</div>
</div>
</div>
<br/><br/>
<p class="large"><em>Messages & Services</em> are statically defined</p>
<div class="splitbox">
<div class="splitbox-row">
<div class="onehalf">
<pre><code class="bash"><em>$ rosmsg show knx_control/KNXDataPoint</em>
string name
string address
string dptID
string priority
bool stateBased
int32 mainNumber</code></pre>
</div>
<div class="onehalf">
<pre><code class="bash"><em>$ rossrv show knx_control/SetDataPoint</em>
string address
string value
---
string value</code></pre>
</div>
</div>
</div>
</div>
</section>
<section class="slide">
<div class="slide-title">Topics</div>
<div class="slide-content">
<img src="media/topic_protocol.png" alt="Topics protocol" width="72%"/>
<ul>
<li>Directory used for topics discovery : <em>ROS Master</em>;</li>
<li><em>Multiple</em> concurrent publishers / subscribers for a single topic;</li>
<li>Publish / subscribe <em>order irrelevant</em>.</li>
</ul>
</div>
</section>
<section class="slide">
<div class="slide-title">Services</div>
<div class="slide-content">
<img src="media/service_protocol.png" alt="Service protocol" width="70%"/>
<ul>
<li>Directory used for service discovery : <em>ROS Master</em>;</li>
<li>Multiple simultaneous clients.</li>
</ul>
</div>
</section>
<section class="slide">
<div class="slide-title">Roscore</div>
<div class="slide-content">
<p class="emphasis large"><em>Roscore = rosmaster + parameter server + log aggregator</em></p>
<p class="large">Rosmaster</p>
<ul>
<li>directory for publisher / subscribers / services,</li>
<li>XMLRPC API,</li>
<li>not a central communication node.</li>
</ul>
<p class="large">Parameter server</p>
<ul>
<li>centralized parameter repository, </li>
<li>provides parameter access to all nodes,</li>
<li>XMLRPC data type.</li>
</ul>
<p class="large">Log aggregator</p>
<ul>
<li>subscribes to <em>/out</em> topic,</li>
<li>store output on filesystem.</li>
</ul>
</div>
</section>
<section class="slide">
<div class="slide-title">Roslaunch</div>
<div class="slide-content">
<p class="large">Automate startup of complex ROS applications.</p>
<p class="large"><em>Launch files</em> are XML files specifying :</p>
<ul>
<li>list of nodes,</li>
<li>with topics / service remapping,</li>
<li>parameter values,</li>
<li>machines for distributed applications.</li>
</ul>
<div class="splitbox-row">
<div class="full text-padding normal-text">
<pre><code class="xml"><launch>
<include file="$(find ikio)/launch/ikio.launch"/>
<node pkg="tf" type="static_transform_publisher"
name="base_link_to_cam"
args="1 0 1.3 3.14 0 0 base_link camera_link 10" />
<arg name="marker_size" default="8" />
<node name="ar_track_alvar" pkg="ar_track_alvar" type="individualMarkers" respawn="false" output="screen" args="$(arg marker_size) " />
<node name="ar_to_pose" pkg="ikio" type="ar_to_pose" output="screen"/>
</launch></code></pre>
</div>
</div>
</div>
</section>
<section class="slide">
<div class="slide-title">Packages and Stacks</div>
<div class="slide-content">
<p class="large">Ros code is grouped at two different levels</p>
<p class="large"><em>Packages</em></p>
<ul>
<li>atomic unit of building,</li>
<li>can contain anything : nodes, messages, tools, launch files, etc.
<li>in their most basic form :
<ul>
<li>package_name</li>
<li>package_name/Makefile</li>
<li>package_name/CMakeLists.txt</li>
<li>package_name/manifest.xml</li>
</ul>
</li>
</ul>
<p class="large"><em>Stacks</em></p>
<ul>
<li>atomic unit of "releasing",</li>
<li>collection of packages for distribution,</li>
<li>in their most basic form :
<ul>
<li>stack_name</li>
<li>stack_name/package_name_1</li>
<li>stack_name/package_name_n</li>
<li>stack_name/stack.xml</li>
</ul>
</li>
</ul>
</div>
</section>
<!--#############################################################-->
<section class="slide tabular vcenter hide-toc-status">
<p class="emphasis large">ROS Tools</p>
</section>
<section class="slide">
<h3>ROS Tools</h3>
<div class="slide-title">Runtime Introspection</div>
<div class="slide-content">
<em class="emphasis large">Node Introspection</em>
<ul>
<li><em>rosnode</em> list nodes and interconnections,</li>
<li><em>rxgraph</em> display connection graph</li>
</ul>
<img src="media/rxgraph.png" alt="rxgraph" width="40%"/>
<em class="emphasis large">Message Introspection</em>
<ul>
<li><em>rostopic</em> list topics, print message information, echo messages</li>
<li><em>rosservice</em> list services, call services, print service information</li>
</ul>
</div>
</section>
<section class="slide">
<div class="slide-title">Logging</div>
<div class="slide-content">
<em class="emphasis large">Logging API</em>
<ul>
<li>different verbosity levels (info, debug, error, etc.),</li>
<li>published on an unique topic <em>/rosout,</em></li>
<li><em>rxconsole</em> for online inspection,</li>
<li>automatic dumping to file system for offline analysis.</li>
</ul>
<img src="media/rxconsole.png" alt="rxconsole" width="55%"/>
</div>
</section>
<section class="slide">
<div class="slide-title">Data visualization</div>
<div class="slide-content">
<em class="emphasis large">rviz</em>
<ul>
<li>full 3D visualization,</li>
<li>display almost all standard sensor messages and frames,</li>
<li>plugin system to handle build-in messages.</li>
</ul>
<img src="media/rviz.png" alt="rviz" width="60%"/>
</div>
</section>
<section class="slide">
<div class="slide-title">Data recording</div>
<div class="slide-content">
<em class="emphasis large">Recording messages</em>
<ul>
<li><em>rosbag record</em> : generic subscriber,</li>
<li>container : <em>bagfile</em>,</li>
</ul>
<em class="emphasis large">Replaying messages</em>
<ul>
<li><em>rosbag play</em> : generic publisher,</li>
<li><em>rxbag</em> : graphic interface.</li>
</ul>
<img src="media/rxbag.png" alt="rxbag" width="50%"/>
</div>
</section>
<section class="slide">
<div class="slide-title">Transformation frames</div>
<div class="slide-content">
<p class="large">Robot</p>
<ul>
<li>set of <em>rigit bodies linked together</em>;</li>
<li>each sensor obtain measurements in its local reference.</li>
</ul>
<p class="large">In ROS</p>
<ul>
<li>set of <em>Transformation Frames</em>,</li>
<li>linked by <em>transformations</em>,</li>
<li>organized in a <em>directed tree</em>,</li>
<li>published on a single topic <em>/tf</em>,</li>
<li>each sensor data is associated to a frame.</li>
</ul>
<figure class="center">
<img src="media/frames2.png" alt="frames" width="30%"/>
</figure>
</div>
</section>
<section class="slide">
<div class="slide-title">Third party modules</div>
<div class="slide-content">
<em class="emphasis large">Hardware drivers</em>
<ul>
<li>sensors : almost all common used robotics sensors,</li>
<li>robots : depends on constructors.</li>
</ul>
<em class="emphasis large">Software stacks</em>
<ul>
<li>SLAM (localization and mapping),</li>
<li>navigation,</li>
<li>3D perception,</li>
<li>simulation;</li>
</ul>
<em class="emphasis large">Growing community.</em>
</div>
</section>
<section class="slide tabular vcenter hide-toc-status">
<p class="emphasis large">... and see a lot more during the demo session!</p>
</section>
<!--##########################################################################
##
## PART II. Getting Started with ROS
##
###########################################################################-->
<section class="slide hide-toc-status">
<h2>Getting Started with ROS</h2>
<div class="splitbox">
<div class="stubbox">
<span class="title">Plan</span>
<div class="content large">Presentation Overview</div>
</div>
<div class="splitbox-row">
<div class="full text-padding normal-text">
<ul class="fadded">
<li>Introduction to ROS</li>
<li class="selected">Getting Started with ROS
<ul>
<li>Create a New Package</li>
<li>Create a New Message Type</li>
<li>Publisher/Subscriber in C++</li>
<li>Publisher/Subscriber in Python</li>
<li>Publisher/Subscriber in Java</li>
</ul>
</li>
<li>Showcases
<ul>
<li>Personally Assisted Living Application</li>
<li>On Road Vehicle Application</li>
<li>Prototyping Robots</li>
</ul>
</li>
<li>Conclusion and Perspectives</li>
<li>Live Demonstration</li>
</ul>
</div>
</div>
</div>
<div class="background bottom-right">
<img src="media/overview_path.jpg">
</div>
</section>
<!--#############################################################-->
<section class="slide tabular vcenter hide-toc-status">
<p class="emphasis large">Create a <em>New Package</em></p>
</section>
<section class="slide">
<h3>Create a New Package</h3>
<div class="slide-title">Create a new package</div>
<div class="slide-content">
<ol>
<li>Head to your ROS workspace
<pre><code class="bash">$ roscd</code></pre>
</li>
<li>Create an empty package :
<pre><code class="bash">$ roscreate-pkg pkg_name</code></pre>
</li>
<li>Edit pkg_name/manifest.xml :
<pre><code class="xml"><package>
<description brief="pkg_name">
My package description
</description>
<author>Mr Bob</author>
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/pkg_name</url>
<em> <depend package="geometry_msgs/Twist" /></em>
</package></code></pre>
</li>
</ol>
</div>
</section>
<!--#############################################################-->
<section class="slide tabular vcenter hide-toc-status">
<p class="emphasis large">Create a <em>New Message Type</em></p>
</section>
<section class="slide">
<h3>Create a New Message Type</h3>
<div class="slide-title">Create a new message type</div>
<div class="slide-content">
<p>In ROS <em>msg</em> and <em>srv</em> types definition are stored respectively in <em>pkg_name/msg</em> and <em>pkg_name/srv</em></p>
<ol>
<li>Create the msg/Custom.msg file
<pre><code class="python"># this is some custom message
string someText
uint8 someNumber
geometry_msgs/Twist[] someTwistArray
</code></pre>
</li>
</ol>
<div class="splitbox">
<div class="splitbox-row">
<div class="onehalf">
<p>Basic data types are:
<ul class="normal text-padding">
<li>int{8,16,32,64}</li>
<li>float{32,64}</li>
<li>string</li>
<li>time</li>
<li>duration</li>
<li>array[]</li>
</ul>
</p>
</div>
<div class="onehalf">
<p>Packages type:
<ul class="normal text-padding">
<li>pkg_name/type_name</li>
<li>pkg_name/type_name[]</li>
</ul>
</p>
</div>
</div>
</div>
</div>
</section>
<!--#############################################################-->
<section class="slide tabular vcenter hide-toc-status">
<p class="emphasis large">Publisher/Subscriber in <em>C++</em></p>
</section>
<section class="slide">
<h3>Publisher/Subscriber in C++</h3>
<div class="slide-title">Publisher/Subscriber in <em>C++</em></div>
<div class="slide-content">
<p>ROS uses <em>CMake</em> and provides a <em>rosmake</em> command utility</p>
<ol>
<li>Add roscpp dependency in the manifest.xml :
<pre><code class="xml"><depend package="roscpp" /></code></pre>
</li>
<li>Edit pkg_name/CMakeLists.txt
<pre><code class="cmake">#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()
#common commands for building c++ executables and libraries
rosbuild_add_executable(my_publisher src/my_publisher.cpp)
rosbuild_add_executable(my_subscriber src/my_subscriber.cpp)</code></pre>
</li>
</ol>
</div>
</section>
<section class="slide">
<div class="slide-title"><em>Publisher</em>/Subscriber in C++</div>
<div class="slide-content">
<pre><code class="cpp">#include "ros/ros.h"
#include "pkg_name/Custom.h"
int main(int argc, char **argv) {
ros::init(argc, argv, "my_publisher"); // init ROS
ros::NodeHandle n; // handle to create publisher, subscriber, services, etc.
ros::Publisher pub = n.advertise<pkg_name::Custom>("my/custom/topic", 1000); // create publisher
pkg_name::Custom custom_msg; // Message to be sent
ros::Rate loop_rate(10); // synchronization rate (set at 10 Hz)
while (ros::ok()){
custom_msg.someText="some text";
point_pub.publish(custom_msg); // send the message
ros::spinOnce(); // manage ros events
loop_rate.sleep();
}
return 0;
}</code></pre>
</div>
</section>
<section class="slide">
<div class="slide-title">Publisher/<em>Subscriber</em> in C++</div>
<div class="slide-content">
<pre><code class="cpp">#include "ros/ros.h"
#include "pkg_name/Custom.h"
void msgCallback(const pkg_name::Custom::ConstPtr& msg) {
ROS_INFO("My custom text : %s", msg->someText.c_str() );
}
int main(int argc, char **argv) {
ros::init(argc, argv, "my_subscriber"); // init ROS
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("my/custom/topic", 1000, msgCallback);
ros::spin(); // ROS spin loop
return 0;
}</code></pre>
</div>
</section>
<section class="slide">
<div class="slide-title"><em>Publisher/Subscriber</em> in C++</div>
<div class="slide-content">
<ol>
<li>Build the package
<pre><code class="shell">$ rosmake pkg_name</code></pre>
</li>
<li>Run roscore
<pre><code class="shell">$ roscore&</code></pre>
</li>
<li>Run publisher
<pre><code class="shell">$ rosrun pkg_name my_publisher</code></pre>
</li>
<li>Run subscriber
<pre><code class="shell">$ rosrun pkg_name my_subscriber
[ INFO] [1354267632.389733464]: My custom text : some text
[ INFO] [1354267632.489738852]: My custom text : some text</code></pre>
</li>
</ol>
</div>
</section>
<!--#############################################################-->
<section class="slide tabular vcenter hide-toc-status">
<p class="emphasis large">Publisher/Subscriber in <em>Python</em></p>
</section>
<section class="slide">
<h3>Publisher/Subscriber in Python</h3>
<div class="slide-title"><em>Publisher</em>/Subscriber in Python</div>
<div class="slide-content">
<ol>
<li>Create a directory in <em>pkg_name</em> to put your nodes in e.g. <em>pkg_name/nodes</em></li>
<li>Create the <em>nodes/publisher.py</em> file
<pre><code>#!/usr/bin/env python
import rospy; roslib; roslib.load_manifest('pkg_name')
from pkg_name.msg import Custom
def publisher():
pub = rospy.Publisher('my/custom/topic', Custom)
rospy.init_node('publisher')
while not rospy.is_shutdown():
m = Custom(someText = "some text")
pub.publish(m)
rospy.sleep(1.0)
if __name__ == '__main__':
try:
publisher()
except rospy.ROSInterruptException:
pass</code></pre>
</li>
</ol>
</div>
</section>
<section class="slide">
<div class="slide-title">Publisher/<em>Subscriber</em> in Python</div>
<div class="slide-content">
<ol>
<li>Create the <em>nodes/subscriber.py</em> file
<pre><code>#!/usr/bin/env python
import rospy; roslib; roslib.load_manifest('pkg_name')
from pkg_name.msg import Custom
def callback(data):
rospy.loginfo(rospy.get_name() + ": I heard %s" % data.someText)
def subscriber():
rospy.init_node('listener', anonymous=True)
rospy.Subscriber("my/custom/topic", Custom, callback)
rospy.spin()
if __name__ == '__main__':
subscriber()</code></pre>
</li>
</ol>
</div>
</section>
<section class="slide">
<div class="slide-title"><em>Publisher/Subscriber</em> in Python</div>
<div class="slide-content">
<ol class="normal text-padding">
<li>Make both nodes executable
<pre><code class="bash">$ chmod +x nodes/*.py</code></pre>
</li>
<li>Build the package (only for the msgs)
<pre><code class="bash">$ rosmake pkg_name</code></pre>
</li>
<li>Run roscore
<pre><code class="shell">$ roscore</code></pre>
</li>
<li>Run the nodes
<pre><code class="bash">$ rosrun pkg_name publisher.py<br/>$ rosrun pkg_name listener.py</code></pre>
</li>
</ol>
</div>
</section>
<!--#############################################################-->
<section class="slide tabular vcenter hide-toc-status">
<p class="emphasis large">Publisher/Subscriber in <em>Java</em></p>
</section>
<section class="slide">
<h3>Publisher/Subscriber in Java</h3>
<div class="slide-title">Publisher/Subscriber in <em>Java</em></div>
<div class="slide-content">
<p class="large">ROS for Java is <em>not yet officially supported</em></p>
<ul>
<li class="normal">Old JNI API <a href="http://www.ros.org/wiki/rosjava_jni">http://www.ros.org/wiki/rosjava_jni</a> (deprecated)</li>
<li>New Java only implementation <a href="http://rosjava.googlecode.com">http://rosjava.googlecode.com</a><br/>
<span class="normal">Developed at Google in cooperation with Willow Garage</span>
</li>
</ul>
<p class="large">ROS for Java is <em>slightly different</em>
<ul>
<li class="normal">Uses an alternative build system <a href="http://www.gradle.org/" class="gradle">Gradle</a></li>
<li class="normal">Revisited API (take benefit of Java language, asynchronous)</li>
<li class="normal">More threads, fewer processes (Java Node ≡ C++ Nodelets)</li>
</ul>
</p>
<p class="large">ROS for Java is <em>android friendly</em>
<ul>
<li class="normal">Uses the same API</li>
<li class="normal">Provides additional classes (ROSActivity, Views, …)</li>
<li class="normal">… but still in an alpha mode</li>
</ul>
</p>
</div>
</section>
<section class="slide">
<div class="slide-title">Publisher/Subscriber in <em>Java</em></div>
<div class="slide-content">
<ol>
<li>Create a <em>build.gradle</em> file (see <a href="http://docs.rosjava.googlecode.com/hg/rosjava_core/html/getting_started.html#build-gradle-example">build.gradle example</a>) in <em>pkg_name</em> directory</li>
<li>Add a custom task in <em>build.gradle</em> for better integration with <em>rosrun</em>
<pre><code>...
// create a standard binary in /bin for rosrun
task deployApp(dependsOn: 'installApp') << {
File binDir = new File(project.projectDir, '/bin')
if (!binDir.isDirectory()) {
println "Creating $binDir directory"
binDir.mkdirs()
}
File link = new File(binDir,"execute")
File target = new File(project.projectDir, "build/install/$project.name/bin/$project.name")
println "Creating symlink from $link.absolutePath to $target.absolutePath"
ant.symlink(link: link.absolutePath, resource: target.absolutePath)
}
...</code></pre>
</li>
</ol>
</div>
</section>
<section class="slide">
<div class="slide-title">Publisher/Subscriber in Java</div>
<div class="slide-content">
<ol>
<li>Put your your Java sources in <em>src/main/java</em> and your tests in <em>src/test/java</em></li>
<li>Implement a Node
<pre><code>import org.ros.namespace.GraphName;
import org.ros.node.Node;
import org.ros.node.NodeMain;
public class MyNode implements NodeMain {
public GraphName getDefaultNodeName() {
return new GraphName("my_node");
}
public void onStart(ConnectedNode node) {}
public void onShutdown(Node node) {}
public void onShutdownComplete(Node node) {}
public void onError(Node node, Throwable throwable) {}
}</code></pre>
</li>
</ol>
</div>
</section>
<section class="slide">
<div class="slide-title"><em>Publisher</em>/Subscriber in Java</div>
<div class="slide-content">
<pre><code class="java">public class Publisher extends AbstractNodeMain {
public GraphName getDefaultNodeName() {
return new GraphName("publisher");
}
public void onStart(final ConnectedNode connectedNode) {
final Publisher<pkg_name.Custom> publisher = connectedNode.newPublisher(
"my/custom/topic", pkg_name.Custom._TYPE);
connectedNode.executeCancellableLoop(new CancellableLoop() {
protected void setup() {}
protected void loop() throws InterruptedException {
pkg_name.Custom msg = publisher.newMessage();
msg.setSomeText("Hello world!");
publisher.publish(msg);
Thread.sleep(1000);
}
});
}
}