rosR.pdf


The aim of this contribution is to connect two previously separated 
worlds: robotic application
development with the Robot Operating System (ROS) and statistical 
programming with R. This
fruitful combination becomes apparent especially in the analysis and 
visualization of sensory data. We
therefore introduce a new language extension for ROS that allows to 
implement nodes in pure R. All
relevant aspects are described in a step-by-step development of a common 
sensor data transformation
node. This includes the reception of raw sensory data via the ROS 
network, message interpretation,
bag-file analysis, transformation and visualization, as well as the 
transmission of newly generated
messages back into the ROS network.

See also: 
http://journal.r-project.org/archive/2013-2/dietrich-zug-kaiser.pdf
rosR: http://wiki.ros.org/rosR
rosR_demos: http://wiki.ros.org/rosR_demos
or: http://eos.cs.ovgu.de/dietrich/