Any tutorials available for creating custom message for android ros

asked 2018-01-11 18:28:19 -0500

jbeard
13 ●2 ●3 ●6

updated 2018-01-18 10:13:44 -0500

I am creating a publisher and subscriber node in Android. Currently it works very well with the included ROSjava standard messages. However, I would like to create a custom message type. Hoping there is a tutorial or sample project I can study.

Updated to add my solution in case it helps others: I did follow this tutorial http://wiki.ros.org/rosjava_build_tools/Tutorials/indigo/UsingServices per @jubeira post. The most important thing that I found impacted my success was the sourcing of rosjava.

Written in the text below Step 2 is

Remember to source your Rosjava installation workspace first to have the command line tools available (e.g. source ~/rosjava/devel/setup.bash).

What I found was that if rosjava was deb installed I had problems. I am very new to working with ROS and linux so that may be obvious what to do for other folks, but that's what I found that made things work for me.

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Could you please post your update as a solution instead?

jayess ( 2018-01-18 11:22:28 -0500 )edit

@jayess Do you mean post as an answer below or is there a solution option I am missing? Forgive me, very new to forum.

jbeard ( 2018-01-18 11:31:51 -0500 )edit

Yes, post as answer. If you come up with a solution for your problem you should post it as an answer. It's ok if there's already other answers.

jayess ( 2018-01-18 11:34:13 -0500 )edit

hola @jubeira estoy trabajando con rosjava y necesito pasar mensajes personalizados, llegaste ha hacer ese tutorial?

Ro ( 2019-12-11 09:20:10 -0500 )edit

Hola Ro, probaste los pasos que describi en la respuesta anterior? Generar los mensajes no tiene ningun paso distinto en Java; solo hay que tener genjava disponible en el workspace en el momento de buildear el paquete que contiene los mensajes.

jubeira ( 2019-12-16 10:49:16 -0500 )edit

Guys, could you please not post in languages other than English? Thanks.

gvdhoorn ( 2019-12-16 10:53:39 -0500 )edit

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answered 2018-01-12 14:54:10 -0500

jubeira

1054 ●11 ●11

updated 2018-01-13 15:33:48 -0500

Hi @jbeard!

The method I prefer is using Catkin, and placing the messages in a separate package. I will assume you have a workspace with your rosjava/ Android project. Let me explain the steps:

Create a new catkin package using catkin_create_pkg in your workspace.
Create the custom message in this package as you would do in regular ROS (msg folder, modify the CMakeLists, etc). As you probably know, you would generate the standard Python/ Cpp files corresponding to those messages by building the workspace.
To create the java artifacts, source your rosjava installation workspace (if installed from source) and then build your workspace. The Java artifacts will be in devel/share/maven.
Modify your build.gradle dependencies to include the newly generated messages. Note that the version specified in the package will be the version of your messages.

Check out this tutorial: http://wiki.ros.org/rosjava_build_too... . It shows how to create and use custom services in Java, which in the end are actually a particular case for messages.

If you find it useful, I can create a tutorial for this as well when I find some time. Hope it helps!

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@jubeira This is a big help in pushing me along. I ran through the tutorial you linked and it got me much closer. I am going to run through the guide again though cause I believe I missed something. The generated .jar file did not contain my custom message but instead talker and listener classes.

jbeard ( 2018-01-12 19:29:53 -0500 )edit

@jubeira I seem to have difficulty going at step 3. I source my rosjava installation and then build my package but I don't get the maven folder.

jbeard ( 2018-01-14 18:11:50 -0500 )edit

I will write an example or a tutorial to give you more precise instructions about it, this answer is a bit vague. In the meantime, try checking the tutorial for services. The process of creating custom messages is analogue to that one; try following those steps replacing services for messages.

jubeira ( 2018-01-15 12:46:00 -0500 )edit

Thank you for all the help. I have finally got my messages working for the most part (there is an array vs list issue I will make another question for).

jbeard ( 2018-01-17 20:39:15 -0500 )edit

I'm glad that it worked! I've been pretty busy lately and I couldn't write a proper tutorial or example yet. In any case, I've always used rosjava from source; it's relatively easy to install and I think it causes less trouble.

jubeira ( 2018-01-19 07:27:31 -0500 )edit

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Any tutorials available for creating custom message for android ros

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