| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Editing Question To Make Clear
I have a server that needs to be able to send various messages to clients over Ethernet. This is done by using a ShapeShifter class to serialize the message and then the message is sent. Is there a way for an Arduino client to serialize the message that is sent?
You're probably best off using the serialization and deserialization from rosserial, even if you don't use the rest of it.
You probably just need msg.h ( https://github.com/ros-drivers/rosser... ) and the generated message classes from make_libraries.py . If you have a small set of messages you probably don't need to use the full rosserial build system; you can just generate messages once and then check in the resulting headers and use them.
Pulling in the full serialization libraries from roscpp probably isn't a good idea. I think they depend on boost (which is going to be difficult to get on arduino) and they use 64-bit floating point, which isn't supported on arduino/AVR ( as noted in the rosserial msg.h above). There are probably other dependencies in there as well that will be difficult to make work on an AVR.
the message generation is the make_libraries.py script. Section 2.2 of the arduino setup tutorial describes how to run it.
The actual main function for make_libraries is in rosserial_arduino: https://github.com/ros-drivers/rosser... , but it makes very heavy use of libraries in the rosserial_client package.
If I am using the rosserial message structure on the Arduino side, do I need to use the same message (generated by rosserial) on the ROS side? Also, my understanding is that rosserial is just a pass through where an arduino can subscribe to any topic on the PC is that correct?
Per the rosserial protocol documentation that I linked above, the serialization that rosserial uses is directly compatible with the serialization in ROS, which means that your ShapeShifter should be able to talk to rosserial's deserialization. (you don't need to use identical code on both sides)
Asked: 2017-01-22 19:20:50 -0500
Seen: 337 times
Last updated: Jan 22 '17
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
You may want to dig into rosserial_arduino; I know it uses a serialiazation that is similar to the stock serialization, and I think it has a few modifications to make it more arduino-friendly.
It would also improve your question to explain WHY you want to do this; there's a decent chance that someone in the community has already done something similar and can save you a great deal of effort (see also: XY problem )
So, I have a server that is taking ShapeShifter messages and serializing them and then needs to send them to the Arduino, is this feasible, or should I be looking more into a custom serialization? I hvae looked some into rosserial and am lost in it.
I Edited the question to make it clear on the outcome
That sound almost exactly like what rosserial is doing (the C++ uses ShapeShifter too), and rosserial has some additional protocol over the serial line to delimit messages and identify which topics they belong to. you may want to read http://wiki.ros.org/rosserial/Overvie...
Overall it sounds like you're reinventing rosserial, and unless you've gotten rosserial to work and found it unsuitable, I'd advise that you give it another go.
There's been some progress in this question getting rosserial_arduino to work over the arduino wifi shield; you may be able to use that or adapt it for an ethernet shield.
The particular reason that I do not want to go with ROS serial is that future add-ons that I plan for the project would make it complex to handle within rosserial.