Hi orocos-dev, orocos-users, ros-users,
A first version of our Orocos/ROS integration is ready in the form of the
orocos_toolchain_ros stack.
The stack is available at:
- released version:
* tarball:
http://people.mech.kuleuven.be/~rsmits/downloads/orocos_toolchain_ros-0....
* svn:
svn co http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/orocos...
orocos_toolchain_ros
- developers version:
svn co http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/stacks/orocos... orocos_toolchain_ros
The stack contains all of the Orocos Toolchain v2.0.1 except for the autoproj
build system. The orocos_toolchain_ros stack contains patched versions of
orogen and utilmm to automatically create ros packages instead of autoproj
packages for the automatic typekit generation for c++ classes.
On top of the Orocos Toolchain v2.0 this stack contains:
* the rtt_ros_integration package. This package contains the following:
- The ros-plugin: this RTT plugin allows Orocos/RTT components to contact
the ROS master
- CMake macro's to automatically create Orocos/RTT typekits and transport
plugins from .msg files
* the rtt_ros_integration_std_msgs: This package shows how the CMake macro's
have to be used, it creates the Orocos/RTT typekits and transport plugins for
all roslib and std_msgs messages
* the rtt_ros_integration_example: This package shows how the
rtt_ros_integration should be used from an Orocos/RTT user/developer point of
view. It contains a HelloRobot component which can be contacted using
'rostopic echo'
And last but not least the stack also includes the rtt_exercises package for
Orocos/RTT new-commers.
The orocos_toolchain_ros stack itself still remains undocumented, I'm
currently working on that, but documentation on the Orocos Toolchain can be
found via: http://www.orocos.org/wiki/orocos/toolchain
If anyone has any questions please do not hesitate to contact the orocos-
users, orocos-dev or ros-users mailinglist.
Ruben
---
Dr. Ir. Ruben Smits
Mechatronics & Robotics Research Group
Department of Mechanical Engineering
Katholieke Universiteit Leuven