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Third-party ros messages

asked 2014-03-19 22:29:35 -0600

Mehdi. gravatar image

updated 2016-10-24 09:01:26 -0600

ngrennan gravatar image


Is it possible to write a standalone C++ or Java program that can prompt you for a text for example and then send it as a ROS message which will be received by a listening ros node? By standalone I mean that it is possible to compile the program on any machine with no need to ros installed, just using the necessary ros libraries. Did somebody already do that? I don't really understand how ros internally works and any help on how to collect the needed libraries for that would be very appreciated.

Thank you

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As a very last resort, you can just implement the ROS network protocol. I would not recommend that, though.

dornhege gravatar image dornhege  ( 2014-03-20 01:03:39 -0600 )edit

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answered 2014-03-26 16:09:31 -0600

Mehdi. gravatar image

I also found something called ros_bridge which looks vers interesting but i didn't test it yet as I already have a working solution thanks to demmeln.

You can check it here:

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Rosbridge works perfectly and I use it now to publish and subscribe to topics. It is very useful and you can implement a control interface for a robot using any programming languages supporting web sockets.

Mehdi. gravatar image Mehdi.  ( 2014-04-02 18:52:26 -0600 )edit

answered 2014-03-20 00:55:00 -0600

demmeln gravatar image

Depends on what you mean by ROS installed? You don't _need_ to use catkin to compile your node, but at the very least you need a few libraries and header files "installed" or shipped with your project such that they are avaiable for the compiler. And possibly you need to also ship the generated message header files if you don't have the message generation machinery 'installed'. Jonathan Bohren has some excellent tutorials discussing how to compile a very simple example c++ node step by step with a plain Makefile, using pkg-config manually, with a plain CMakeFile and then catkin. Maybe this helps to understand better how everything ties together:

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Thank you very much!! I will check this out.

Mehdi. gravatar image Mehdi.  ( 2014-03-20 01:13:10 -0600 )edit

Sure, feel free to open a new question if it is still unclear after reading the tutorial.

demmeln gravatar image demmeln  ( 2014-03-21 01:59:57 -0600 )edit

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Asked: 2014-03-19 22:29:35 -0600

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Last updated: Mar 26 '14