Making my code ros-independent
Hi,
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?
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.