It does create a new transport called "rosserial" for point to point serial connections. The goal was to provide a light weight packet where that could handle syncing the two end points and multiplexing the topic communication. It also has a checksum to for error detection. However, the error detection is not used to guarantee is packet received, but rather to guarantee that an endpoint does not act on a corrupted packet. It is an unreliable transport. All of this is detailed on the rosserial/Overviewpage. We are planning to do an API review of both rosserial the transport and rosserial_arduino and would love some outside input. If there is anything you don't like or think could be improved, let us know. Cheers, Adam On Sun, Jul 17, 2011 at 7:18 AM, Andrew Harris wrote: > Hi, > > As the maintainer of one of the "old-school" Arduino connectivity > packages called "pmad", this sounds quite elegant. Does this package > create a new topic transport like "UDPROS", or "TCPROS" that is > negotiated during subscriptions? Just curious. > > best regards, > -andrew > > On Fri, Jul 15, 2011 at 7:12 PM, Adam Stambler wrote: > > Hi > > > > As the author of avr_bridge, I am happy it has served you well! I have > been > > working with Mike on rosserial and can say it should be even better for > your > > purposes. There is now time synchronization, float support, Arduino IDE > > support, and a far more robust protocol. I am no longer going to be > > supporting avr_bridge as a result. It is an easy transition to rosserial > > though. > > > > You are right about the trigonometry on the avr being a bit much. We are > > expecting folks to use it only when they publish at a slow rate on the > AVR. > > However, there is no reason why you couldn't run rosserial on Maple (an > ARM > > based arduino) and do all the trig you need for TF. > > > > Anyway, if you have any suggestions or problems with rosserial, let us > know. > > > > Cheers, > > Adam > > > > > > > > On Fri, Jul 15, 2011 at 3:03 PM, Dariush Forouher > > wrote: > >> > >> On 15.07.2011 19:36, Michael Ferguson wrote: > >> > We would like to announce the first release of a new rosserial library > >> > for the Arduino platform. The rosserial library allows Arduinos to > >> > directly publish and subscribe to ROS messages. There are also demos > >> > ranging from controlling servos to using an Arduino and rxplot as an > >> > oscilloscope to reading temperature sensors into ROS. > >> > > >> > In addition to support integration with the Arduino platform, the > >> > rosserial library provides a general point-to-point transport for ROS > >> > communication over serial, which is intended for hardware that cannot > >> > support the full ROS TCP/IP network stack. This library can be used > to > >> > easily integrate a wide-variety of low-cost hardware into ROS. > >> > >> Very interesting, thanks! > >> > >> Compared to avr_bridge I really like the time synchronization feature > >> and omiting the code generation process. > >> > >> I also see that you implemented a tf broadcaster. Your tutorials suggest > >> to implement a broadcaster of odometry transforms in the atmega. Did you > >> try this? I'm a bit sceptical of doing trigonometric operations on an > >> atmega, especially on floats. > >> > >> I'm currently using avr_bridge and am quite happy with it. I'm doing all > >> math stuff (integrating odometry velocity over time; creating point > >> clouds from ultrasound data) in python, however. > >> > >> ciao > >> Dariush > >> _______________________________________________ > >> ros-users mailing list > >> ros-users@code.ros.org > >> https://code.ros.org/mailman/listinfo/ros-users > > > > > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users > > > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >