On Mon, Feb 7, 2011 at 3:16 AM, Christian Verbeek
<
verbeek@servicerobotics.eu>
wrote:
> Dear all,
>
> It might be quite unusual but I would like to
communicate with a ROS
> system without connecting to a roscore. The problem I
see is the
> following. My robots run Ubuntu and are perfectly
suited to run ROS. The
> app for programming these robots is a Windows
program. We already ported
> ROS to Windows (
http://ros-win32.servicerobotics.eu/).
In general we
> would be able to integrate ROS into our Windows app
and connect to the
> roscore running on the robots.
>
> This will not do for the following reasons:
>
> 1) The IP address of the robot is not fixed, i.e. can
be change by the
> user. In order to be able to connect from the outside
to the robot
> ROS_MASTER_URI and ROS_IP on the robot would have to
reflect the current
> IP address. This might not be a general problem but
makes things quite
> complicated for the user when the IP address has to
be changed. I would
> prefer to set ROS_MASTER_URI and ROS_IP on the robot
to 127.0.0.1 as
> this will always work.
>
> 2) We also have a simulator for our robot which is
also a Windows
> application. If we would use ROS to connect to our
robot we would have
> to run a roscore on Windows and connect the simulated
robot to this ROS
> master. With a single simulated robot this might
work. But when we
> simulate more than one robot we are getting in very
big trouble because
> there are many statics in libros. The robots are
loaded at runtime to
> the simulator and the statics make it impossible to
handle the robots
> individually as it is done right now.
>
> What we would need is a point to point communication
with a specific ROS
> node. We know the IP address of the robot and we know
which nodes are
> running there. Is there a way to connect to a node's
topic directly? Or
> is there a better solution to my problem?
>
> Regards
> Christian
>
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