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Running ROSJAVA as a thread in a larger app.

asked 2011-10-18 03:07:23 -0500

morrowsend gravatar image

updated 2011-10-18 03:25:19 -0500

How might the ROSJAVA talker example be spawned as a separate thread since it must be passed the NodeConfiguration at startup? I get an error stating that I cannot cast my main file to org.ros.node.NodeMain.

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answered 2011-10-18 18:39:35 -0500

morrowsend gravatar image

updated 2011-10-18 18:39:56 -0500

I figured it out. I have to implement NodeMain in the main java file, save the passed NodeConfiguration to a global volatile, and read it from the runnable() which contains the RosNode. I am sure there is a better way of doing it (such as simply passing the NodeConfiguration to the run() method) but this works for now. If I run into problems with it, I will post an update.

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answered 2011-10-18 23:58:26 -0500

Lorenz gravatar image

updated 2011-10-18 23:59:04 -0500

The easiest way to run a RosMain instance in a thread is to use the NodeRunner class.

NodeConfiguration nodeConfiguration =
FooNodeMain foo = new FooNodeMain();
DefaultNodeRunner.newDefault().run(foo, nodeConfiguration);

In the above example, the class FooNodeMain needs to implement org.ros.node.NodeMain. NodeRunner's run method is non-blocking and just runs your node in a new thread and you can call it multiple times to spawn different nodes.

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Asked: 2011-10-18 03:07:23 -0500

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Last updated: Oct 18 '11