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Package Summary

Tags No category tags.
Version 2.9.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/orocos/rtt_ros_integration.git
VCS Type git
VCS Version toolchain-2.9
Last Updated 2022-07-09
Dev Status MAINTAINED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

This stack contains all software necessary to build systems using both Orocos and ROS infrastructures

Additional Links

Maintainers

  • Orocos Developers

Authors

  • Ruben Smits
  • Steven Bellens
  • Jonathan Boren
  • Johannes Meyer
README
No README found. See repository README.
CHANGELOG

Orocos RTT/ROS Integration Changelog

2.9.2 (2019-05-15)

2.9.1 (2017-11-16)

2.9.0 (2017-05-02)

  • Added individual changelogs and bumped versions to 2.9.0
  • Contributors: Johannes Meyer

2.8.6 (2017-11-15)

2.8.5 (2017-03-28)

2.8.4 (2016-11-26)

2.8.3 (2016-07-20)

2.8.2 (2015-06-12)

2.8.1 (2015-03-16)

2.7.x

Orocos Version

2.7.x

ROS Distro

Hydro

The Orocos RTT/ROS Integration has been heavily refactored and extended in the 2.7 release. Part of this is due to the new Catkin buildsystem standard in the ROS community, but also it is due to long-desired enhancements to the integration packages.

Prior to the 2.7 release, the packages which interfaced core RTT functionality with core ROS functionality was split across four "stacks":

  1. rtt_ros_integration: RTT plugins for communicating with ROS
  2. rtt_ros_comm: RTT Typekits for rosgraph_msgs and std_msgs
  3. rtt_common_msgs: RTT Typekits for common_msgs
  4. TODO: rtt_geometry: RTT typekits for KDL datatypes and RTT plugins for TF

In the 2.7.0 release, the packages from these four repositories have been reorganized. The two repositories which only contained typekits (rtt_ros_comm and rtt_common_msgs) were moved into rtt_ros_integration under a directory called "typekits".

The rtt_rosnode package from the old rtt_ros_integration stack has also been refactored. In previous releases, it contained the following tools:

  • Scripts to create RTT/ROS packags
  • CMake build and code-generation scripts to create RTT typekits from ROS messages
  • An RTT plugin called "ros_integration" which instantiated a ROS node and provides several services
    • An RTT global service called "ros" for constructing ROS topic connection policies.
    • An RTT activity for publishing messages to ROS topics
    • An RTT component service called "rosparam" for loading and saving RTT component properties as ROS parameter server parameters.

In this release, the "rtt_rosnode" has been split into four packages:

  • "rtt_ros": Core ROS system integration
    • Convenience launchfiles and wrapper scripts for running Orocos programs (typegen, deployer, etc)
    • An RTT global service for importing ROS packages and their dependencies
  • "rtt_rosnode": Contains a plugin for creating a ROS node in an RTT program
  • "rtt_roscomm": Contains ROS communication plugins including:
    • ROS msg primitives typekit
    • An RTT transport plugin for communicating via ROS topics and RTT ports
    • An RTT plugin for serving and calling ROS services via RTT operations
    • A tempalte and package generator for integrating new ROS msg and srv types
  • "rtt_rosparam": Contains a plugin for synchronizing a component's properties with ROS parameters

There are also several API changes related to importing plugins from ROS packages, creating ROS topic connections, and synchronizing RTT properties with ROS parameter server parameters.

See each package's individual CHANGELOG.rst for more details.

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Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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