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How to send a message from a non ROS node to a ROS node

asked 2016-01-30 13:56:09 -0500

highWaters gravatar image

Hello,

Is it possible to have a program on a remote device which doesn't have ROS installed that sends messages to a ROS node on another device (which has ROS)?

I was thinking to start small and have a small c program that sends an int via a udp channel, but I'm not sure how this is going to be received, or published to a topic. Any guideline on how you would go about this?

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answered 2016-01-30 16:22:17 -0500

ahendrix gravatar image

You probably shouldn't try to publish directly to a ROS topic from a non-ROS system (this would effectively mean re-implementing the ROS libraries for some other platform, which probably isn't what you want to do).

Instead, the common pattern here is to write a gateway node which communicates over standard TCP or UDP on one side, and publishes ROS messages, and to run this node on your ROS system.

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To add to this: alternatively (depending on the amount of integration desired), you could use something like rosbridge or perhaps cROS.

gvdhoorn gravatar image gvdhoorn  ( 2016-01-31 02:14:00 -0500 )edit

Thank you for your tips!! I will look into them:)

highWaters gravatar image highWaters  ( 2016-01-31 14:51:12 -0500 )edit

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Asked: 2016-01-30 13:56:09 -0500

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Last updated: Jan 30 '16