ROS Ruby Client: rosruby

ROS is Robot Operating System developed by OSRF and open source communities.

This project supports ruby ROS client. You can program intelligent robots by ruby, very easily.

Homepage: http://otl.github.com/rosruby Git: http://github.com/OTL/rosruby Author: Takashi Ogura Copyright: 2012 License: new BSD License Latest Version: 0.4.3

Requirements

• ruby (1.8.7/1.9.3)
• ROS (hydro/groovy)

electric/fuerte

If you are using electric or fuerte, please use v0.2.1.

Install (binary)

sudo apt-get install ros-hydro-rosruby

then you have to source /opt/ros/hydro/setup.bash for ruby library path.

Install from source

Install ROS and ruby first. ROS document is http://ros.org/wiki/ROS/Installation . rosruby uses genrb for message generation. After install genrb, .rb message files are automatically compiled if there are message source package exists in your catkin_ws/src directory.

rosruby uses catkin. If you have not catkin_ws yet, please read this wiki.

$ cd ~/catkin_ws/src
$ git clone https://github.com/OTL/genrb.git
$ git clone https://github.com/OTL/rosruby.git
$ cd ~/catkin_ws
$ catkin_make

Install from source (indigo/jade)

Try indigo-devel branch.

$ cd ~/catkin_ws/src/rosruby
$ git checkout indigo-devel
$ cd ~/catkin_ws
$ catkin_make

Message generation

You must generate ROS msg/srv files for rosruby if the msg/srv packages are not compiled from source. If you are using catkin package, it is easy. Please add below to your package CMakeLists.txt.

find_package(rosruby)
rosruby_generate_messages(message_pkg1 message_pkg2 ...)

Or, you can generate it manually. Please use the msg/srv generation script (rosruby_genmsg.py) in order to generage rosruby messages.

For example, (please replace catkin_ws to your catkin workspace)

$ rosrun rosruby rosruby_genmsg.py geometry_msgs nav_msgs -d ~/catkin_ws/devel/lib/ruby/vendor_ruby/

If you want to generate msg/srv files from source (for example your project), it is automatically generated by genrb.

Sample Source

You can get rosruby sample programs from rosruby_tutorials package.

Subscriber

```ruby #!/usr/bin/env ruby

require ‘ros’ require ‘std_msgs/String’

node = ROS::Node.new(‘/rosruby_sample_subscriber’) node.subscribe(‘/chatter’, Std_msgs::String) do |msg| puts “message come! = '#{msg.data}'” end

while node.ok? node.spin_once

File truncated at 100 lines see the full file

Changelog for package rosruby

0.5.5 (2013-10-25)

• add path for message generation (msg and srv)

0.5.4 (2013-10-19)

• add genrb_pkg.sh again, because binary build fails.

0.5.3 (2013-10-19)

• remove shell script and use CATKIN_ENV
• add message_generation depends and add mkdir in macro
• add genmsg for depends
• add python executable

0.5.2 (2013-10-03)

• add setup.py for resolve genrb
• use genrb_pkg_sh for message generation (because in binary environment, we have to source setup.sh)

0.5.1 (2013-10-02)

• change msg/srv generation path. it will be same as genrb.
• export rosruby macros

0.5.0 (2013-10-02)

• delete samples (please use rosruby_tutorials package)
• use genrb package

0.4.3 (2013-09-11)

• set ROS_ROOT environ if it is not set for roslib.package (it requires it)

0.4.2 (2013-09-11)

• add more depends

0.4.1 (2013-09-10)

• remove rosrun from message generation for rosruby
• add import roslib and build_depend roslib in package.xml

0.4.0 (2013-09-10)

• use catkin_add_hook for ROSLIB environment
• color local log like rospy/roscpp
  • ERROR/FATAL => red
  • WARN => yellow
• wait until master connection
• change genmsg output dir to catkin lib dir

0.3.0 (2013-09-05)

• catkinized

v0.2.1

• move libraries rosruby_common, actionlib, tf to other repositories.
• bug fix of message deserialization of array with size(#32).

v0.2.0

• add some libraries

v0.1.1

• first stable release