rosserial_arduino service

asked 2011-11-07 09:54:27 -0500

mcsmith
66 ●3 ●4 ●9

updated 2012-02-27 07:35:47 -0500

I'm a newbie trying to get a ROS service running on an Arduino-based node. My first attempt was to get the basic client/server code working on my Ubuntu system. I've got the basics working and now want to migrate the server code to the Arduino. Can someone suggest how to bridge the gap between the command-line development tools (rosmake, srv_gen files, etc.) to the Arduino IDE?

answered 2011-11-08 03:51:48 -0500

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

Service servers aren't that well documented yet as they are still experimental. First off, make sure you are using rosserial 0.3.0 or newer (as previous versions did not include working services).

If you have a service defined in a .srv file, you can use the make_library.py script to export the definitions into header files (see this tutorial). From there the code for a service server callback is very similar to that found in roscpp, an example can be found in ros_lib/examples/ServiceServer/ServiceServer.pde

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The tutorial gives me: roslib.packages.InvalidROSPkgException: Cannot locate installation of package /opt/ros/electric/ros/myDir: [rospack] couldn't find package [/opt/ros/electric/ros/myDir]. ROS_ROOT[/opt/ros/electric/ros] ROS_PACKAGE_PATH[/home/mcsmith/ros_workspace:/opt/ros/electric/stacks]

mcsmith ( 2011-11-08 10:28:34 -0500 )edit

You're invoking it wrong -- your package name is not "/opt/ros/electric/ros/myDir".. the package name you supply should be the name of the package (maybe that is myDir?) not the path.

fergs ( 2011-11-08 18:05:40 -0500 )edit

Arduino compile error: cannot declare field ‘...::header’ to be of abstract type ‘std_msgs::Header’ .../ros_lib/std_msgs/Header.h:14: note: because the following virtual functions are pure within ‘std_msgs::Header’: .../ros_lib/ros/msg.h:44: note: virtual int ros::Msg::serialize(unsigned char*)

mcsmith ( 2011-11-09 05:29:19 -0500 )edit

Make sure that all of your <sketchbook>/libraries/ros_lib is updated to the newest messages. We changed the definition of serialize to be a const function between 0.2.0 and 0.3.0 releases.

fergs ( 2011-11-09 07:29:27 -0500 )edit

Yes, the header files all contain "virtual int serialize(unsigned char *outbuffer) const".

mcsmith ( 2011-11-09 08:33:36 -0500 )edit

Does msg.h though?

fergs ( 2011-11-09 10:26:59 -0500 )edit

No, it's: "virtual int serialize(unsigned char *outbuffer) = 0;"

mcsmith ( 2011-11-10 07:15:20 -0500 )edit

then it's not up to date.... you need to update *all* the files in the ros_lib folder

fergs ( 2011-11-10 08:18:52 -0500 )edit

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