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2013-11-03 21:18:28 -0500 commented answer Advice needed on a suitable method to transmit ROS msgs, with unknown msg types. In cpp

Thanks, I'll have a look into the rosbag code, but I'm starting to think that the non-answer might be an easier and better option, I might suggest that the serialization / deserialization stuff is coded into it's own ROS node and the rest is done in C++. Do you by chance know of any python examples?

2013-11-03 21:15:28 -0500 commented answer Advice needed on a suitable method to transmit ROS msgs, with unknown msg types. In cpp

Evologics 18/34 (ethernet), best-case 13.9 kbps so I'd anticipated that the need to encode more information could be a problem, the data throughput apparently shouldn't be too 'heavy' though. No driver, so it is my remit to code both the low-level interface, and the high level ROS 'transport' stuff

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2013-11-01 05:51:25 -0500 asked a question Advice needed on a suitable method to transmit ROS msgs, with unknown msg types. In cpp

Hey guys,

So I have been contracted to write a ROS driver to facilitate the transmission (and reception) of currently undefined ROS msgs underwater with an acoustic modem.

My plan is to create a node that listens to all ROS msg traffic, then to discriminate the msgs to be transmitted across the acoustic link (with aid of topic names in a conf file), then serialise those selected msgs (one at a time), and then transmit. On the receiving side the date will need to be de serialised and re-published into a msg.

Due to not knowing the msgs before compilation, and the requirement of a configuration file to discriminate, this obviously means that I need a way to serialize and de-serialize without knowing the msg type (unless I have this information in the config file aswell). I have also been asked that it is programmed in CPP.

I realise that similar questions have been asked before , mostly stating that it is impossible (?) in cpp due to introspection... but these were asked several years ago.

So I wonder if there is any new advice, possibly from changes in ROS.

Many thanks,

Chris

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2013-04-20 05:15:54 -0500 asked a question problems building - executable package and dependent library package in the same catkin workspace

Hi,

I'm having some problems getting to grips with catkin/cmake.

Essentially I have 2 CPP packages in the same workspace: 'serial_port' - which is a library build, and 'sonar_interface' - which is an executable "driver" (depends on serial_port)

I cannot figure out how to go about setting up the CMake files to compile this workspace. At the moment I just keep getting: sonar_interface.cpp:7:27: fatal error: serial_port.hpp: No such file or directory... the offending line is just from me including serial_port.hpp: #include <serial_port.hpp>

I think this is a problem to do with me not linking properly, but I'm very new to all this so not sure where to start

Any help / tutorial links would be much appreciated,

Thanks