Hi - I'm interested in implementing a client library in language X. I've read the below "Implementing Client Libraries" page, and it's quite informative. I know that a ros node has to have an XMLRPC server running as well as an additional TCP socket to handle incoming topic connection requests and that the node also has to support a commandline API. The thing I am not so sure about is all of the marshalling and demarshalling stuff that is created automatically for, for example, the rospy client. I define my new messages in a YAML file and there is some magic that creates python functions to do the marshalling and demarshalling. That implies that I must also write functions in some language (not necessarily language X) that reads YAML files and outputs marshalling and demarshalling routines in language X? And it has to integrate with cmake? This is the part that I am not so sure about. thanks, -andrew On Sun, Jan 10, 2010 at 1:19 AM, Ken Conley wrote: > The best I can offer right now is this page: > http://www.ros.org/wiki/Implementing_Client_Libraries > It's brief, but accurate. You'll find links to the relevant pages describing > the various protocols and formats required. > Writing for a PIC seems like a bigger undertaking than > Flash/Java/Objective-C, mainly because ROS does require that a node run an > XMLRPC/HTTP server. > >  - Ken > On Sat, Jan 9, 2010 at 7:18 PM, Ben Axelrod wrote: >> >> I am interested in this as well.  I am curious if I can make a small >> microcontroller like a PIC with ethernet capabilities become a ROS >> node.  This will allow much nicer interaction with low level hardware. >> >> Typically, this is done by having the microcontroller talk to the >> computer over a serial port.  And then you have a regular ROS node which >> ferries messages between ROS and the COM port.  It would be really cool >> to eliminate this middle man code. >> >> I am new to ROS, but I am hoping that I am not too far off base here. >> >> Thanks, >> -Ben ------------------------------------------------------------------------------ _______________________________________________ ros-users mailing list ros-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/ros-users