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2019-05-20 02:25:06 -0500 marked best answer Exchange data between C application (without ROS) with some PC's running ROS using Ethernet

Dear community,

I am currently starting to work with ROS and try some things out. For one future project, I am planning to use ROS in a multi machine fashion (in total 4 PC's running ROS and Linux) together with a Non-ROS PC (Windows) that runs a C application. Now I need to pass data between those two systems back and forth.

From what I saw so far, the ROS side is straight forward and I can easily exchange data between ROS nodes that are executed on different PC's that run ROS and are connected in a network via Ethernet.

The challenge seems to be how to pass the data from the C application to the ROS-cluster. Several solutions that came to my mind are:

  1. Connect the Windows PC to the same local network of the ROS-cluster and send messages using TCP/IP and afterwards load the data into ROS on one of the cluster-PCs and distribute the data afterwards to the other PC's in the cluster that subscribed to the Topic (of course the message that comes from the C application needs to have a flag for the topic).

  2. Implement the C application in a way that it already sends message that have the same structure as messages sent with TCPROS. -> Seems to be not easy to do it according to my previous investagations

  3. Using the package cROS (see https://github.com/ros-industrial/cros ) since it is a small library that could realize ROS on the Windows Side.

Do you think one of these solutions could really work in practice? Which way would you pick in order to achieve the data transport and set up the network?

Thanks you for reading my question - Looking forward to a fruitful discussion :)

Best regards

Manuel

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2017-08-25 04:11:29 -0500 commented answer Exchange data between C application (without ROS) with some PC's running ROS using Ethernet

Thank you for the quick reply and the great information provided! Especially the Visual Studio cROS seems to be right no

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2017-08-24 18:51:54 -0500 asked a question Exchange Data between C application (Windows) and cluster of PC's running ROS using Ethernet

Exchange Data between C application (Windows) and cluster of PC's running ROS using Ethernet Dear community, I am curre

2017-08-24 18:51:54 -0500 asked a question Exchange data between C application (without ROS) with some PC's running ROS using Ethernet

Exchange data between C application (without ROS) with some PC's running ROS using Ethernet Dear community, I am curren