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How to publish a C++ code to do: code -> ros -> morse simulator?

asked 2014-07-09 09:35:41 -0600

GeorgeFilho gravatar image

i really need to know the possibilities that i have, i have to publish the code into a rostopic? how i can do it? The morse simulator have by default some simulations with ros with rostopic comands but i need to publish some codes to do it... And after all, how i can do the same with different programming languages? (as pascal, especially).

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answered 2014-07-11 08:44:54 -0600

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Thank you for your links, it was very helpful! I appreciate the way that you control the robots by different sources, and i will try to do the same with my simulation, but, i need to control my robots by code, i have to send some trajectory code to make the movement of the robot, without have to control him by myself... Do you know how i can do that?

GeorgeFilho gravatar image GeorgeFilho  ( 2014-07-11 21:54:46 -0600 )edit

@GeorgeFilho In these examples I have used a very simple obstacle avoidance code, you can use most of the navigation stack - DWA, AMCL etc.

Arkapravo gravatar image Arkapravo  ( 2014-07-16 05:09:42 -0600 )edit

answered 2014-07-09 14:27:01 -0600

severin gravatar image

MORSE supports many different middlewares, including ROS.

As briefly explained here, when using the ROS middleware, each sensor and actuator writes/reads from a ros topic and, if the sensors/actuators has asynchronous services, they will also exposes ROS action servers.

I recommend you to check the ROS + MORSE tutorial.

If you do not need ROS and simply want to communicate with MORSE from various language, you may also want to check the simple socket interface (virtually every language should be able to write/read from a socket).

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Hi severin, thank you for your answer, i already checked those tutorials before, what i need to do is change the way that i speak with ros, in this tutorial, you send a rostopic command directly, that command is responsible to make the robot move. What i want to know is how i can publish a code to send those messages to rostopic to make the robot move without any direct command line, do you know how i can do it? About your last advisement, i need ROS because it will be necessary in future applications.

GeorgeFilho gravatar image GeorgeFilho  ( 2014-07-09 17:08:22 -0600 )edit

I do not understand "publish a code to send those messages"... what kind of code? Btw, do not hesitate to post your question to as well.

severin gravatar image severin  ( 2014-07-14 05:35:11 -0600 )edit

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Asked: 2014-07-09 09:35:41 -0600

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Last updated: Jul 11 '14