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One of the best options to comply with the existing architecture is to write a plugin using python, then wrap it with boost python. I've used it a lot and it is extremely easy to wrap C++ code in Python and call the python interpreter (thus your plugin) from C++.
I usually write code in Python, profile it and write in C++ the functions that are more demanding. With boost one can easily have a C++ code (the plugin interface) that calls Python (your plugin) that calls some other C++ functions for time-critical applications!
"Plugins" in python are much simpler and don't need a special library to dynamically load a library. If you'd like an example of a python plugin infrastructure inside ROS take a look at roswtf
Asked: 2011-10-12 10:17:26 -0500
Seen: 1,429 times
Last updated: Oct 13 '11
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