Hi Anis,
Thanks for your contribution! It looks very interesting.

On Tue, Jan 26, 2016 at 8:42 AM, Anis Koubaa (COINS) via ros-users <ros-users@lists.ros.org> wrote:

Based on our experience, working with rosjava was tedious and unfortunately, the easiness of the Java language cannot be fully utilized considering the difficulty of setting up ROS applications with ROSJAVA.
Just creating messages in ROS and making them available to ROSJAVA was a tedious process.

This is related to Hydro version, and not sure if Indigo brought better comfort with ROSJAVA.

Indeed the Indigo version of Rosjava has improved support for message generation:
http://wiki.ros.org/rosjava/Tutorials/indigo/RosJava%20Message%20Artifacts

For further questions specifically related to rosjava I can refer you to the mailing list: ros-sig-java@googlegroups.com

 

To make better use of a ROS Web services, we plan to port them to Python considering that it is more naturally supported by ROS.

Just to give my feedback on this to the community, and open for discussions.

Thanks
Anis

--------------------------------------------
Anis Koubaa, PhD., 
Senior Fellow of the HEA (SFHEA)
ACM Chapter Chair (Saudi Arabia) 
Associate Professor
Prince Sultan University, Saudi Arabia
--------------------------------------------


From: "Anis Koubaa (COINS) via ros-users" <ros-users@lists.ros.org>
Reply-To: Anis Koubaa <akoubaa@coins-lab.org>, User discussions <ros-users@lists.ros.org>
Date: Friday, December 18, 2015 at 8:42 PM
To: <ros-users@lists.ros.org>
Subject: [ros-users] ROS Web Services

Hello,

I have developed ROS Web Services to provide new abstractions to ROS using SOAP and REST Web services. The objective was to provide an additional software abstraction layer on top of ROS to allow a seamless interaction with ROS even for non-roboticians. We can say that ROS Web services is another alternative to rosbridge and rosjs which use the Web to interact with ROS. 

Using ROS Web services layer allow any developer with no background on robotics to develop Web service client (SOAP or REST) to monitor and control ROS-enabled robot through simple interfaces.  

A paper presenting ROS Web services  is published in The Journal of Software Engineering for Robotics. In the paper, I present an object-oriented design of software meta-models for the integration of both Web services into ROS and we validate it through a real implementation on a service robot. Implementation was performed using ROSJAVA under Hyrdo version.

A video illustration is also available on this link. A brief description is also available here. 

I still did not release the code due to lack of time, but should post it on GITHUB soon. Any comment on this will be welcome. 
We are working now on extending ROS Web services with new features and we plan to apply them in ROS-enabled drones.

Thanks
Anis

--------------------------------------------
Anis Koubaa, PhD., 
Senior Fellow of the HEA (SFHEA)
ACM Chapter Chair (Saudi Arabia) 
Associate Professor
Prince Sultan University, Saudi Arabia
--------------------------------------------

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