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where does ros get sensor data

asked 2014-06-28 16:57:06 -0500

miltmobley gravatar image

In short time of perusing the code it appears ROS expects to get sensor data from sockets. What agent posts the data to the sockets? user space proxy or kernel module (on Linux). For example, I might use a processor that has some ADC converters connected to sensors. The cpu vendor has decided to implement his drivers as either IIO, Input, HID_RAW drivers or has used some custom solution. I didn't find any references in your code to /sys or /dev devices, but there is a Python file that loads a program called 'sensors' using the subprocess library module. How can I find the code for this program?

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answered 2014-06-28 19:33:04 -0500

Kevin gravatar image

You should review the tutorials on Nodes and Topics.

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I think reading the http://wiki.ros.org/ROS/Introduction and especially http://wiki.ros.org/ROS/Concepts pages first would be a good idea.

gvdhoorn gravatar image gvdhoorn  ( 2014-06-30 02:07:55 -0500 )edit
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answered 2014-07-01 13:02:24 -0500

miltmobley gravatar image

The closest answer seems to be in wiki.ros/Sensors, although all the examples are pulling sensor data from external robots via a serial link, and not running ROS on the robot.

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Have you read the links @Kevin and I posted? In short: so called 'drivers' read out whatever the manufacturer has decided should be the interface to a sensor, and inject that data into the ROS node graph using suitable publications to topics.

gvdhoorn gravatar image gvdhoorn  ( 2014-07-01 13:54:16 -0500 )edit

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Asked: 2014-06-28 16:57:06 -0500

Seen: 1,441 times

Last updated: Jul 01 '14