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How do i get ros_lib and roscpp source files?

asked 2018-03-06 10:42:40 -0500

ogensyts gravatar image


i want to implement roscpp to my C++ project to communicate to ROS via TCP. (microcontroller programmed in C++) Here is a little background:

Some time ago i used rosserial_client on my C++ project. To get rosserial_client source files (.h and .cpp) to my project what i did before was doing this in terminal on ROS indigo :

rosrun rosserial_client make_libraries

And it got me a nice folder named "ros_lib" containing everything i needed to port rosserial_client to my project. Worked out fine. (.h and .cpp files)

But now i want to use roscpp in my project, to use tcp communication with tcp sockets (i think i need to use transport.h). And i cannot figure out how to get roscpp and roscpp dependencies source files (.h and .cpp) to a single folder with everything working.

I tried to get roscpp from Github then doing a catkin_make on it, but could'nt find something useable after all.

How do i get ros_lib and roscpp source files (in a single folder, with everything working) to port to my C++ project? Thank you!

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answered 2018-03-06 11:14:45 -0500

joq gravatar image

updated 2018-03-06 13:38:30 -0500

Here are the complete source build instructions:

EDIT: To find the roscpp dependencies in your workspace, first source it, then run:

$ rosdep keys roscpp

For Kinetic, that shows:

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Thank you! Now, do you know which files i need to make tcp connection to my ROS Master? Is there a tutorial on how to use roscpp to connect to master via TCP?

ogensyts gravatar image ogensyts  ( 2018-03-06 13:13:00 -0500 )edit

I doubt there is such a tutorial. You should look at the code.

joq gravatar image joq  ( 2018-03-06 13:36:24 -0500 )edit

Ok thank you!

ogensyts gravatar image ogensyts  ( 2018-03-06 13:42:27 -0500 )edit

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Asked: 2018-03-06 10:40:55 -0500

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Last updated: Mar 06 '18