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Making my code ros-independent

asked 2015-07-29 13:06:23 -0600

madeye gravatar image

updated 2015-07-29 15:14:14 -0600

allenh1 gravatar image


I have a program called ORB_SLAM that is ROS dependent at the moment. So it relies on ROS and it's methods to run. I am trying to make it ROS independent.

Is there a resource where I can find the C++ code that goes behind how ROS manages nodes and performs various functions in its method calls.

For example, there a line like: while (ros::ok()) { .. } Here ros::ok() checks to see if a node has finished shutting down. Is it possible to write C++ code for this that would accomplish the same thing without using ROS?

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Have you considered sending the messages over tcp? You could make a ROS interpreter on one end and a command sending node on the other. A lab down the hall refused to write in ROS but needed robots, so I wrote this.

allenh1 gravatar image allenh1  ( 2015-07-29 15:17:18 -0600 )edit

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answered 2018-08-07 15:13:51 -0600

pitosalas gravatar image

Can you say what your goal is? Because ros::ok() is checking something about a node. A node is a ROS concept so I can't see what it means to make it ROS independent. You could refactor to classes that are about the essence of your algorithm and then use them in a much smaller program that uses ROS.

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Asked: 2015-07-29 13:06:23 -0600

Seen: 1,182 times

Last updated: Aug 07 '18