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2011-03-17 04:59:56 -0500 | marked best answer | Use of TCP/IP Protocol under ROS All of the ROS client libraries (e.g. roscpp, rospy) implement this protocol for you. I probably wouldn't recommend reimplementing TCPROS as first step in getting used to ROS. You should be able to write a program using one of the client libraries. FYI: I would also look for existing packages that may already implement drivers for your hardware here: |
2011-03-17 04:59:30 -0500 | marked best answer | Use of TCP/IP Protocol under ROS Gael, One of the main point of ROS is to enable distributed architectures easily. It therefore makes use of TCPROS to make inter-process communication transparent to the programmer. I.e. if your node runs on your local machine or on a machine at the other side of the world, your code stays the same. This is realized via the publisher/subscriber paradigm. A bit like CORBA if I am not wrong. In your case, you want to have two nodes collaborating together:
Check the Cturtle tutorial on writting subscriber and broadcasters. As Koen and Ken advise, you should have a look at the existing arm packages and inspire from them. Raph |
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2011-03-17 04:59:09 -0500 | answered a question | Use of TCP/IP Protocol under ROS About roscpp, I found this wiki about RosCPP Publishers and Subscribers. http://www.ros.org/wiki/roscpp/Overview/Publishers%20and%20Subscribers#Publishing_to_a_Topic " transport_hints The transport hints allow you to specify hints to roscpp's transport layer. This lets you specify things like preferring a UDP transport, using tcp nodelay, etc." I will try to find more on that and get something working. Thanks all, Gael |
2011-03-17 04:44:07 -0500 | commented answer | Use of TCP/IP Protocol under ROS Yes, I'm focussing on the node which drive the arm (node which communicate with the hardware). And I understand the publisher/subscriber paradigm. I am looking for the way to express the node how to communicate with the hardware (through TCP/IP). |
2011-03-17 04:35:27 -0500 | commented answer | Use of TCP/IP Protocol under ROS I did not know the protocol was implemented in roscpp library. Is there any information about this you could give me ? |
2011-03-17 04:33:46 -0500 | commented answer | Use of TCP/IP Protocol under ROS We are currently working on the hardware part, so I don't think there is any packages that have been implemented to control our hardware. Anyway i'm sur there are already packages already implemented to allow TCP/IP communication. I cannot find any of those. |
2011-03-17 04:28:28 -0500 | commented answer | Use of TCP/IP Protocol under ROS The ROS GUI is running on the host PC (Ubuntu). The Targets are a couple of Embedded Boards (DSPs which control the arm), all communicating with the host PC through a hub using TCP/IP. I'm interrest to implement the ROS part of the TCP/IP communication. |
2011-03-17 03:17:23 -0500 | asked a question | Use of TCP/IP Protocol under ROS Hi all, I am kind of new in ROS (well … finished the turtlesim tutorial though :-D…) and currently trying to get functional a new stack to control an arm-robot through TCP/IP. I understand that ROS allows us to communicate using the TCP/IP protocol and that there is some kind of library called TCPROS which can be implemented to do so (explained in http://www.ros.org/wiki/ROS/TCPROS. I was wondering if anybody already implemented it, or if there were any existing packages I could get inspiration from. Cheers, Gael |