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Approach to convert from ROS2 to robot specific communication protocols when your robot does not run ROS?

asked 2021-03-03 10:45:53 -0600

user300 gravatar image

We are using ROS2/Gazebo to create a simulation environment for our robot with a large set of virtual sensors. Our goal is to run our processor with robot code in the loop, but our robot code does not run ROS. We need to convert from the ROS/Gazebo architecture to robot specific communication protocols for each sensor. We are curious to learn how other projects have architected their solution to a similar scenario and/or if there is a recommended approach from the ROS/Gazebo experts.

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answered 2021-03-03 22:36:51 -0600

abhishek47 gravatar image

updated 2021-03-03 22:37:31 -0600

"need to convert from the ROS/Gazebo architecture to robot specific communication protocols for each sensor"

  1. Find out the specific format/communication-protocol that your hardware expects.
  2. Write up some "interface" code which does the conversion between ROS and the actual hardware.

Also take a look at ROS wrappers (#q225518 and #q202000)

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I believe this is a too simplistic proposal.

The OP states:

our robot code does not run ROS. We need to convert from the ROS/Gazebo architecture

architecture goes beyond communication protocols, at least it does for me.

gvdhoorn gravatar image gvdhoorn  ( 2021-03-04 02:16:17 -0600 )edit

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Asked: 2021-03-03 10:45:53 -0600

Seen: 39 times

Last updated: Mar 03