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2019-05-20 02:09:45 -0600 marked best answer [ROS2] using native RTI dds *.idl files with ROS2

Hi, I'm wondering if there is an efficient way or best-practice on how to use existing RTI dds idl descriptions with ROS2. Since we have a complete legacy system running with RTI dds, it would be awesome to be able to communicate with it using ROS2.

I was thinking to have a deep look into ros2 message generation and figure out if it is possible to use existing idls. As far as i'm aware, when using rti dds as middleware, ros2 is generating idl files form msg definitions as an intermediate step. so hooking inbetween that process with existing idl files seems reasonable.

BR Jochen

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2017-09-26 10:53:44 -0600 commented answer [ROS2] using native RTI dds *.idl files with ROS2

thanks for pointing that out to me again :-) i just re-discovered the discussion at https://discourse.ros.org/t/ros2-an

2017-09-26 08:17:54 -0600 marked best answer [ROS2] generating DDS .idl files from .msg ROS Message Format

Hi all,

I'm trying to create .idl descriptions from the ros message description format.

There is the rosidl_generate_dds_interfaces package and cmake macro.

How would I use this for instance for the std_msgs or trajectory_msgs package? I'm currently trying

rosidl_generate_dds_interfaces(std_msgs_idl IDL_FILES ${msg_files}OUTPUT_SUBFOLDERS "idl")

In std_msgs/CMakeLists.txt

Thanks Jochen

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2017-09-26 08:17:32 -0600 asked a question [ROS2] using native RTI dds *.idl files with ROS2

[ROS2] using native RTI dds *.idl files with ROS2 Hi, I'm wondering if there is an efficient way or best-practice on how

2017-08-10 01:04:57 -0600 commented answer [ROS2] generating DDS .idl files from .msg ROS Message Format

works like a charm, thanks a lot ! since i want to use rti dds anyways on the other machine it's the best solution

2017-08-09 11:16:39 -0600 commented question [ROS2] generating DDS .idl files from .msg ROS Message Format

i do get an error message from the install target which is looking for /ros2_ws/build/std_msgs/rosidl_generator_dds_idl

2017-08-09 11:02:56 -0600 commented question [ROS2] generating DDS .idl files from .msg ROS Message Format

i feel like i'm just missing a small step or so. there is a rosidl_generator_dds_idl__arguments.json file generated in t

2017-08-09 10:49:25 -0600 commented question [ROS2] generating DDS .idl files from .msg ROS Message Format

yes, i'm trying to use that idl with plain rti dds on a non ros machine

2017-08-09 10:26:31 -0600 asked a question [ROS2] generating DDS .idl files from .msg ROS Message Format

[ROS2] generating DDS .idl files from .msg ROS Message Format Hi all, I'm trying to create .idl descriptions from the r

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2013-10-27 05:12:05 -0600 answered a question will ros-dynamixel support dynamixel pro servos?

i emailed the package maintainer.

he does not have access to a dymixel pro servo. since they use a quite different protocol the pro series is not supported currently and it's unclear when they can add support for it.

2013-10-25 05:23:24 -0600 commented question will ros-dynamixel support dynamixel pro servos?

so by looking at the code i figured out that they are currently not supported

2013-10-25 04:16:02 -0600 asked a question will ros-dynamixel support dynamixel pro servos?

there seem to be some differences in the protocol

see

http://support.robotis.com/en/product/dynamixel_pro/communication/instruction_status_packet.htm

and

http://support.robotis.com/en/product/dynamixel/communication/dxl_packet.htm

however, on the dynamixel pro communication site robotis states

Dynamixel protocol 2.0 Previously both Dynamixel and Dynamixel PRO implemented a different protocol. TO verify protocol version please refer to both instruction and status packet.

unfortunately i couldn't find any information if the ros-dynamixel package will support the pro servos

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2012-10-25 07:14:21 -0600 answered a question Android_tutorial_pubsub errors on Eclipse

I found it most convenient to not add all the jars from the libs directory to the build path. Instead import all rosjava and android_core projects into the eclipse workspace and add those to the build path of the project. This might help too, plus you always get fresh versions of the dependencies. But as Damon mentioned it still is a lot of trial and error.

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2012-10-23 08:56:57 -0600 answered a question how to connect to an already running roscore from a tethered usb device

Seems like i found a working solution myself. this also works if you have the following setup: running roscore on a machine A connect ethernet cable and get ip adress via dhcp communicate from a machine B via network to roscore on machine A

the solution is to set up a network bridge on machine A which bridges to all other network devices (e.g usb0, eth0 ...). Assign a static IP to the bridge device and set ROS_MASTER_URI and ROS_IP to that ip. Start the roscore. When plugin the ethernet cable or tablet (...) just restart the bridge adapter using ifconfig down/up and all devices can communicate with the core using the bridge adapter's ip

2012-10-19 05:25:38 -0600 asked a question how to connect to an already running roscore from a tethered usb device

hi

i am trying to connect to an already running roscore with a tethered usb device.

situation is as follows:

  1. i have a running roscore on a ubuntu machine
  2. after the roscore is up, i connect an android tablet to the computer and create a network connection using usb tethering
  3. i am using ros android to communicate with the roscore

note:

  • connecting the tablet with usb tethering creates a new usb network device over which i want to talk to the roscore
  • the tablet may be connected and disconnected several times without re-starting the roscore
  • also maybe other clients connect to the master using a ethernet connection

has anyone an idea how to do that ? how would the ros network setup look like (master uri / ros ip / ros hostname) ?