Dear ROS community,
we are happy to announce three new ROS repositories:
- cn-roscs-ros-pkg (
http://code.google.com/p/cn-roscs-ros-pkg/)
This stack contains a single package: roscs, which provides C# wrappers
for ROS. It does not support the complete ROS functionality, but the
parts we deemed most important, namely publish / subscribe, service
calls, limited support for parameters and some minor functionality. We
are using this under Linux with mono, Windows is not tested and will
probably not work.
- cn-util-ros-pkg (
http://code.google.com/p/cn-util-ros-pkg/)
This stack contains some useful utility libraries, namely:
- cstf, which wraps some tf methods in C#,
- Castor, a utility library for reading and writing configuration files
from C++ and C#,
- udp_proxy_generator - Generates multicast proxies for ros topics. It
is a very simple approach to a multi master environment, no namespace or
topic remappings are done, messages are simply relayed. Given a
configuration file, which specifies topics and message types, C++ code
for a proxy is generated and compiled.
- cn-alica-ros-pkg (
http://code.google.com/p/cn-alica-ros-pkg/)
This stack holds ALICA, a framework to coordinate and control multiple
robots. It consists of three packages:
- Planmodeller - an Eclipse-based IDE to model
multi-robot behaviour.
- AlicaEngine - an execution layer for the designed programs.
- AlicaClient - a simple monitoring GUI.
At its core, ALICA, similar to SMACH, uses hierarchies of state-automata
to define behaviour. In contrast to SMACH, it is geared at teams of
robots, and features task and role allocation algorithms and coordinated
constraint solving and optimisation facilities.
This is part of an ongoing effort to make the source code of the RoboCup
Mid-Size Team Carpe Noctem publicly available. All this software is used
on our MSL robots. Documentation will be added to the wiki once indexed.
This video:
http://www.youtube.com/watch?v=HhIrhU19PG4 shows the
software in action during the Dutch Open 2012 tournament.
Many thanks,
Hendrik Skubch
Distributed Systems Group
University of Kassel
Carpe Noctem
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