RTT ROS Communications

Nomenclature Warning: A “ROS Service” is a remote procedure call that hapens over the ROS communication protocols and an “Orocos/RTT Service” is a grouping of properties, functions, and data ports. “ROS Services” satisfy a similar role to “Orocos/RTT Operations”.

Contents

This package serves several purposes. It provides:

• An Orocos RTT Service for publishing and subscribing to ROS topics
• Orocos RTT Services for calling and serving ROS services
• Orocos typekits for ROS message primitive types
• A template for generating wrapper packages for ROS .msg and .srv files
  • typekits for .msg files
  • transport plugin for .msg files
  • ros service proxy factories for .srv files

Plugins

ROS Topics

This package provides a global RTT service for creating real-time-safe connections between ROS topics and Orocos RTT data ports.

This package provides two Orocos connection policies: buffered and unbuffered connections to ROS topics. Publishing and subscribing are done with the same command, and the topic type is inferred from the Orocos port type. Connection policies are created with these operations:

• rostopic.connection(TOPIC_NAME): Creates a connection with a buffer length of 1.
• rostopic.bufferedConnection(TOPIC_NAME, BUFFER_LENGTH): Creates a connection with a user-supplied buffer length.
• rostopic.unbufferedConnection(TOPIC_NAME): Creates an unbuffered connection, where the writing thread immediately publishs the message (publishing only). This is not real-time safe.

Note that if TOPIC_NAME is prefixed with a tilde ~, it will be resolved to the process’s private namespace, similarly to how topic names are resolved in rospy.

ROS Services

This package provides both a global RTT service and a task-scoped service for facilitating communication with ROS services. The global service, rosservice_registry is used to register factories for creating proxies to ROS service clients and servers. The task-scoped service is ued to bind RTT operations and operation callers to ROS services. In general, users will only use the task-scoped RTT service, similarly to how the rtt_rosparam service is used.

The task-scoped RTT service rosservice provides the following operations:

• rosservice.connect(RTT_OPERATION_NAME, ROS_SERVICE_NAME, ROS_SERVICE_TYPE)
  • Connect an RTT operation to ROS service. Note that this is the same function whether the RTT operation is an operation or an operation caller.
  • RTT_OPERATION_NAME: The task-scoped operation/operation caller name, with provided/required services separated by dots (like foo.bar.baz.op)
  • ROS_SERVICE_NAME: The name of the service client/server in the ROS graph (like /some/ros/ns/my_service)
  • ROS_SERVICE_TYPE: The full typename of the service (like std_srvs/Empty)
• rosservice.disconnect(ROS_SERVICE_NAME)
  • Disconnects an RTT operation or operation caller from an associated ROS service server or client..
  • ROS_SERVICE_NAME: The name of the service client/server in the ROS graph (like /some/ros/ns/my_service)
• rosservice.disconnectAll()
  • Disconnects all RTT operations and operation callers from associated ROS service servers or clients.

The global RTT service rosservice_registry provides the following operations:

• rosservice_registry.registerServiceFactory(FACTORY): Register a ROS service factory
• rosservice_registry.hasServiceFactory(TYPENAME): Check if ROS service type has been registered
• rosservice_registry.geServiceFactory(TYPENAME): Get a ROS service client/server factory

Code Generation

This package also provides facilities for generating typekits for ROS service types defined in .srv files as well as generating plugins which register ROS service types with the rosservice_registry service.

Usage

Connecting an Orocos Port to a ROS Topic

## Imports
import("rtt_roscomm")
# Publish
stream("my_component.my_output", ros.comm.topic("my_ros_output"))
# Subscribe
stream("my_component.my_input", ros.comm.topic("my_ros_input"))

You can also set up these connections in C++ code:

#include <rtt_roscomm/rostopic.h>

// ...

  // Add the port and stream it to a ROS topic
  this->ports()->addPort("my_port", my_port_);
  my_port_.createStream(rtt_roscomm::topic("my_ros_topic"));

// ...

To create a privately-scoped or component-scoped topic, you can do the following:

// Privately-scoped (resolves to NODE_NAME/TOPIC_NAME)
my_port_.createStream(rtt_roscomm::topic("~my_private_ros_topic"));
// Component-scoped (resolves to NODE_NAME/COMPONENT_NAME/TOPIC_NAME)
my_port_.createStream(rtt_roscomm::topic("~" + this->getName() + "/my_component_scoped_ros_topic"));

Connecting RTT Operations to ROS Services

To connect an Orocos operation to a ROS service via .ops script from within an Orocos DeploymentComponent:

## Imports
import("rtt_roscomm")
import("rtt_std_srvs")

## Load some application-specific component
loadComponent("some_component_name","some_component_package::SomeComponent")
## Load the rosservice RTT service for this components
loadService("some_component_name","rosservice")

## Expose a provided operation of this component as a ROS service
some_component_name.rosservice.connect(
  "some_provided_service.some_operation",
  "/some/ros/namespace/empty", "std_srvs/Empty")

## Expose a ROS service to this component
some_component_name.rosservice.connect(
  "some_Required_service.some_operation_caller",
  "/some/ros/namespace/empty", "std_srvs/Empty")

Making a Package’s ROS .msg and .srv Types Available

Generally, you can create a catkin package simply with the create_rtt_msgs script by running:

rosrun rtt_roscomm create_rtt_msgs my_msgs

All this does is create a package with the following CMakeLists.txt and corresponding package.xml:

project(rtt_my_msgs)
find_package(catkin REQUIRED COMPONENTS rtt_roscomm)

# Generate typekits for ros .msg files
ros_generate_rtt_typekit(my_msgs)
# Generate the plugin which makes the services in my_msgs available
ros_generate_rtt_service_proxies(my_msgs)

# Call orocos_generate_package() after the above to export the proper targets
orocos_generate_package(
  DEPENDS my_msgs
  DEPENDS_TARGETS rtt_roscomm
)

The ros_generate_rtt_service_proxies() cmake function will generate an RTT plugin which registers factories for all of the services in the named package when the plugin is loaded.

Design

ROS Services

The rosservice_registry RTT service contains a list of ROS service clients and servers which are associated with RTT operations and operationcallers, respectively. The rosservice.connect operation, inspects whether the first argument is an Operation or OperationCaller. If it is an RTT Operation, it will instantiate a ROS service server wrapped in an RTT OperationCaller to call the operation. If it is an RTT OperationCaller, it will instantiate a ROS service client wrapped in an RTT Operation to be called by the operation caller.

The provided and required services on which the wrapper operations and operation callers are created are private to the rosservice service.

Todo

• Implement typekit generation (similar to rtt_rostopic) so that services can be called from the taskbrowser.
• Automatically detect the type of ROS service from the service name or the operation signature.

Changelog for package rtt_roscomm

2.9.2 (2019-05-15)

• Merge pull request #111 from orocos/fix-110 into 2.9.2
  • Declare loadROSService() methods as static to fix name clashes (fix #110)
• Merge pull request #109 from orocos/fix/rtt_roscomm-python-interpreter into 2.9.2
  • rtt_roscomm: fix hard-coded path to python interpreter in shebang of create_boost_header.py
• Merge pull request #106 from ahoarau/patch-2 into 2.9.2
  • add topicLatched to scripting
• Contributors: Antoine Hoarau, Johannes Meyer

2.9.1 (2017-11-16)

• Merge with version 2.8.6

2.9.0 (2017-05-02)

• rtt_roscomm: find templates and create_boost_header.py script directly in the source-space
• rtt_roscomm: fixed missing package headers include directories for service proxies (fix #87)
• rtt_roscomm: remove using namespace directive from rtt_rostopic_ros_msg_transporter.hpp header
• Added deprecation warning for header rtt_roscomm/rtt_rostopic.h and updated some include directives within rtt_ros_integration
• rtt_roscomm: remove using namespace directive from rtt_rostopic_ros_msg_transporter.hpp header
• rtt_roscomm: renamed header rtt_rostopic.h to rostopic.h and changed namespace for the ROSService service requester for consistency
• rtt_roscomm: added new operations to the documentation in README.md
• rtt_roscomm: get rid of custom IDL
• rtt_roscomm: use \@ROSMSGTYPE@ variable in ros_msg_corba_conversion.hpp.in to allow reuse for custom types
• rtt_roscomm: do not include boost header from Types.hpp
• rtt_roscomm: avoid unnecessary copy during conversion of ROS types to CORBA sequence and catch StreamOverrunException
• rtt_roscomm: do not generate unused source files for per-message typekit
• rtt_roscomm: avoid mismatched-tags warning in clang by removing the extern template declaration and instantiation for RTT::internal::DataSourceTypeInfo<T>
• rtt_roscomm: introduced cmake options ENABLE_MQ and ENABLE_CORBA and disable additional transport plugins by default
• Added individual changelogs and bumped versions to 2.9.0
• Also add a virtual destructor to the base class of the ROS Service Proxy
• Added an explicit destructor to shutdown services servers, and cleanup the registered proxies
• Added CORBA and mqueue transport for ROS typekits
• rtt_roscomm: added support for updated dataflow semantics (RTT version >= 2.8.99)
• Contributors: Antoine Hoarau, Guillaume Walck, Johannes Meyer

2.8.6 (2017-11-15)

• rtt_roscomm: also set ${PROJECT_NAME}_EXPORTED_LIBRARIES in parent scope Related to https://github.com/orocos-toolchain/rtt/pull/244.
• Contributors: Johannes Meyer

2.8.5 (2017-03-28)

• Merge pull request #85 from meyerj/ros-primitives-transport-indigo-devel Added a ROS transport plugin for primitive types (indigo-devel)
• rtt_roscomm: fix caller engine in RosServiceServerProxyBase to make sure that OwnThread operations are executed in the owner's thread
• rtt_roscomm: added topicLatched() method to rtt_rostopic service
• rtt_roscomm: only set CMAKE_BUILD_TYPE to MinSizeRel if either not set or if it was Release before This enables debugging of ROS typekits.
• Contributors: Johannes Meyer

2.8.4 (2016-11-26)

• Merge pull request #79 from meyerj/added-rtt-rosservice-operations rtt_roscomm: added operations disconnect() and disconnectAll() to the rosservice service
• Merge branch 'B#59cleaning_registered_services' of https://github.com/ubi-agni/rtt_ros_integration into indigo-devel
• rtt_roscomm: include exported headers and link typekit and transport plugin to exported libraries
• rtt_roscomm: export build dependency roscpp
• Contributors: Johannes Meyer, Guillaume Walck

2.8.3 (2016-07-20)

• rtt_roscomm: set minimum ROS subscriber queue_size to 1
• rtt_roscomm: fixed destruction of RosSubChannelElement<T> and ROS subscriber shutdown (fix #61)
• Contributors: Johannes Meyer

2.8.2 (2015-06-12)

• see rtt_ros_integratoin/CHANGELOG.rst