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Best way to rosmaster on Android

asked 2014-12-22 06:15:13 -0500

chopchop gravatar image

updated 2014-12-22 06:15:28 -0500

Hi all,

I want to start a rosmaster process on Android without any user input and I'm looking for the best way to do it.

Using RosActivity and the MasterChooser is not possible because this requires the user to input information. rosmaster is written in python and I'd rather not try running python stuff on Android. I tried to copy RosActivity and bind to NodeMainExecutorService but the binder in that class is private.

I'm running out of ideas and would appreciate any help from the rosjava / rosandroid guys. Thanks in advance!

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I've been trying this for a couple of days and found out that most of ROS core is written entirely in python (roscore, rosnode, roslaunch, rostopic, rosservice ...), which I haven't realized before. I'm currently experimenting with the QPython runtime. I'll post updates.

equilibrium gravatar image equilibrium  ( 2016-11-09 03:58:19 -0500 )edit

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answered 2017-11-07 07:41:48 -0500

jubeira gravatar image

updated 2017-11-07 07:42:44 -0500

At least in Rosjava Kinetic release, the ROS master can be executed from rosjava. Take a look at the code of the MasterChooser. It has a checkbox that allows executing the master locally. The MasterChooser then sends the result to the RosActivity , which starts the ROS master if it was requested by the user (see this line: ). You can do that in your code by default, and you won't need user input.

Note that running the ROSJava master has some limitations. It doesn't support XMLRPC multicall requests (i.e. if you launch a launchfile from your desktop against the ROSJava master, it will crash).

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Asked: 2014-12-22 06:15:13 -0500

Seen: 434 times

Last updated: Nov 07 '17