Hi Radu, Hi Tully thanks for the information. As I understand it now, it is possible to create the architecture having just such a nodelet-manager running on all machines. Now, I just need polymorphism in a rosmsg and its done. :) Cheers, Uli Tully Foote wrote: > Uli, > > You are correct that nodelets are basically a thin layer on top of > pluginlib. The goal of nodelets is to facilitate composition of > higher level algorithms maintaining the ROS interface for > compatability. And with forthcoming roscpp improvements, messages can > be passed intraprocess with zero copies. And you can have arbitrarily > many nodelets in a single process. > > For your specific questions: > - Likely you would want to convert each of your plugins into a nodelet. > - As Radu stated, nodelets don't put any restrictions on what you can > do inside of them, service calls and servers are definitely fine. > - For "linking" nodelets directly with a node, all you have to do is > create a nodelet::NodeletLoader class in the node into which you want > to load the nodelets. Then you can address the node as a nodelet > manager, just like a standalone manager. > > Tully > > PS please see my last email about stability. Keep in mind that > nodelets are still in the early developmental stage and will be > changing. http://www.ros.org/wiki/StackVersionPolicy > > On Mon, Mar 15, 2010 at 7:41 AM, Radu Bogdan Rusu > > wrote: > > Hi Uli, > > Think about a nodelet as a C++ class with a ROS interface, sitting > on top of pluginlib. There aren't a lot of > constraints right now, so you can do pretty much what you want. > That being said, the nodelets themselves are just a > small part of a bigger architectural change that we are pushing, > that also includes roscpp optimizations, etc. > > The nodelet and nodelet_topic_tools are already released under > common 1.1, so you can already give them a try. > > We are working on constructing a set of library layers on top of > nodelets, including stacks for 3D point cloud > processing (PCL), 2D image processing (IPL?), and machine learning > (MLL?). PCL has already been released with > point_cloud_perception 0.1, while the others are being developed > right now. These stacks/packages should provide good > examples on how to use the nodelets architecture for 2D/3D > processing and learning. > > Cheers, > Radu. > -- > | Radu Bogdan Rusu | http://rbrusu.com/ > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > > > > -- > Tully Foote > Systems Engineer > Willow Garage, Inc. > tfoote@willowgarage.com > (650) 475-2827 > ------------------------------------------------------------------------ > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > -- Ulrich Klank klank@in.tum.de Technische Universität München | Boltzmannstr 3 | 85748 Garching bei München | Germany www9.in.tum.de/people/klank | Tel: +49 89 289 - 17777