tork_rpc_util RPC (Remote Procedure Call) ROS package

Introduction

This package provides abstract RPC (Remote Procedure Call) structure for higher level of robot operations for the ROS-based robots.

Some ROS-based robots come with higher level of convenient operation interface (e.g. often written in Python) where robot operators can call complicated tasks by a single command. "RPC" here enables interacting with those commands via ROS Topic/Service/Action from remote nodes.

A few applications of this package can be found at:

• [baxter_app_rpc](http://www.ros.org/news/2012/09/rethink-ros.html) for Baxter.
• [hironx_rpc](http://wiki.ros.org/hironx_rpc) for Hironx dual-arm co-robot.
• [Toyota HSR](http://www.toyota-global.com/innovation/partner_robot/family_2.html) (package not available publicly yet).

Install

Install from binary (recommended)

sudo apt-get install ros-indigo-tork-rpc

(Optional) Source install

::

sudo apt-get install python-catkin-tools python-rosdep python-wstool mkdir -p %YOUR_CATKIN_WS%/src cd %YOUR_CATKIN_WS%/src git clone https://github.com/tork-a/tork_rpc.git cd %YOUR_CATKIN_WS% rosdep install -r -y --from-paths src --ignore-src catkin build source devel/setup.bash

Run RPC

This package only provides libraries/modules, so no executable.

Tech support

Your contribution in any of the following is appreciated!

• [Report issues](https://github.com/tork-a/tork_rpc/issues)
• Enhancement suggestion [via Github pull request](https://github.com/tork-a/tork_rpc/pulls).

EoF

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package tork_rpc_util \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

0.0.4 (2017-03-20)

• Add some .msg files.
• Doc update, cleanup.
• Contributors: Isaac I.Y. Saito

0.0.3 (2017-03-04)

0.0.2 (2017-03-04)

• Package renamed.

0.0.1 (2017-01-19)

• Initial release into ROS public repository.
• Contributors: Isaac I.Y. Saito