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port or not to port

asked 2012-09-06 10:01:41 -0500

rosgreeting gravatar image

Hi, I'm new to ROS and seems there is a fundamental thing I can't understand please help:

If on a system, say Android, I'm running the 'core' of ROS, could I write a node on another system?

To me the answer seems to be 'yes', as I runned the ubuntu-arduino hello world tutorial, well, the cor is on ubuntu and node handler is being executed on arduino independently.

If this is right, then I could port a minimum software to any other processor (wish for Broadcom, for a router with OpenWRT), right?

What is the degree of complexity there, more than 10 files needed to be implemented, so that I run 1 node on anther system, yes, no, comments?

Thank you,

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answered 2012-09-06 16:14:41 -0500

jbohren gravatar image

updated 2012-09-06 16:15:02 -0500

The "roscore" is mostly just an XML-RPC server that helps ROS nodes on the network establish connections between each-other. It doesn't matter what platform a ROS node is running on as long as it can communicate over the network.

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answered 2012-09-06 18:16:06 -0500

Ryan gravatar image

I haven't worked with it myself, but eros might be a place to look if you're looking for truly minimal ROS installs which can communicate via XML-RPC calls with the ROS network.

There are two other widely used options which allow devices to communicate with a ROS system without using XML-RPC calls. Those are rosserial (typically used on Arduino or other lightweight chips) and rosbridge (typically used in web clients).

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Asked: 2012-09-06 10:01:41 -0500

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Last updated: Sep 06 '12