2011/5/12 Willy Lambert <lambert [dot] willy [..] ...>

>
>
> 2011/5/12 Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
>
>> A Dimecres, 11 de maig de 2011, Adolfo Rodríguez Tsouroukdissian va
>> escriure:
>> > 2011/5/11 Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
>> >
>> > > Hi,
>> > >
>> > > it's possible to call a function of a orocos component from a ros
>> node?
>> > >
>> >
>> > Leo,
>> >
>> > As long as your component lives in a ROS node, any function or class
>> method
>> > can be set up as callback for a ROS topic, or as work function for a ROS
>> > service, provided that they comply with the expected parameters. Class
>> > methods (not RTT::Methods) of an Orocos component are no exception.
>>
>> Thanks,
>>
>> but I would like that my component doesn't live in a ROS node (or it
>> should
>> be?) . I would like to to have a orocos component running in a box
>> (realtime?)
>> and then, from another component (another box) call a function from the
>> orocos
>> component.
>>
>> Well, we are rethinking one of our application. Our idea is to have a
>> orocos
>> component in a box that provides some functionality to ros components. The
>> connection with topics/ports ok is possible, but there's we need one step
>> more
>> and we would need a way that the ros component calls a orocos funcion, or
>> the
>> orocos component provides a ros service.
>>
>> The idea is that the ros component calls something to the orocos
>> component,
>> not that the orocos component calls a service.
>>
>
I wasn't implying an orocos component calling a service, which is also
doable. I was referring to providing ROS services from an Orocos component,
that also lives in a ROS node. Now, you can leave your realtime component
as-is, and have an Orocos component on the other side of the wire that also
advertises a ROS interface and relays ROS service calls to Orocos
operations. I understand that this implies some coding overhead, but it
works. If in the future Orocos operations become supported by the orocos-ros
bridge, you won't have to do this anymore, but if you're in a hurry, this
will get you going.

>> Is this possible?
>>
>
> There is no way to link" Ros services" and "Orocos operations" at the
> present time
>

>
>
>
>>
>> I don't know if I have been clear.
>>
>> Best regards,
>>
>> Leo
>>
>>
>>
>> --
>> --
>> Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
>> Institut d'Organització i Control de Sistemes Industrials
>> Universitat Politècnica de Catalunya
>> Avda. Diagonal 647, pl. 11
>> 08028 BARCELONA (Spain)
>>
>> Tel. +34-934017163
>> Fax. +34-934016605
>> --
>> Orocos-Users mailing list
>> Orocos-Users [..] ...
>> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>>
>
>

A Dijous, 12 de maig de 2011, Willy Lambert va escriure:
> 2011/5/12 Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
>
> > A Dimecres, 11 de maig de 2011, Adolfo Rodríguez Tsouroukdissian va
> > escriure:
> > > 2011/5/11 Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
> > >
> > > > Hi,
> > > >
> > > > it's possible to call a function of a orocos component from a ros
node?
> > > >
> > >
> > > Leo,
> > >
> > > As long as your component lives in a ROS node, any function or class
> > method
> > > can be set up as callback for a ROS topic, or as work function for a ROS
> > > service, provided that they comply with the expected parameters. Class
> > > methods (not RTT::Methods) of an Orocos component are no exception.
> >
> > Thanks,
> >
> > but I would like that my component doesn't live in a ROS node (or it
should
> > be?) . I would like to to have a orocos component running in a box
> > (realtime?)
> > and then, from another component (another box) call a function from the
> > orocos
> > component.
> >
> > Well, we are rethinking one of our application. Our idea is to have a
> > orocos
> > component in a box that provides some functionality to ros components. The
> > connection with topics/ports ok is possible, but there's we need one step
> > more
> > and we would need a way that the ros component calls a orocos funcion, or
> > the
> > orocos component provides a ros service.
> >
> > The idea is that the ros component calls something to the orocos
component,
> > not that the orocos component calls a service.
> >
> > Is this possible?
> >
>
> There is no way to link" Ros services" and "Orocos operations" at the
> present time
>

:-(

I will write it on my Christmas presents list.

Regards,

Leo