[ros-users] communicating with windows
Aaron Solochek
aarons-ros at aberrant.org
Tue Jun 15 18:19:49 UTC 2010
Sounds like everyone agrees ICE is the best bet. I'm going to start
playing with that. I appreciate all the code examples I can see.
Thanks everyone.
-Aaron
On 6/15/2010 12:56 PM, Klaus Petersen wrote:
> I found the ros / ice combination quite ideal. ice works on a very broad
> range of operating systems (windows, linux, osx etc.) and languages
> (c++, c#, java etc.). It shares with ros the feature, that it is very
> easy to use and very quickly to setup (especially if you want to do
> something simple). As long as ros is not natively cross-platform to
> windows, this seems a very nice solution to reach from a ros node to
> windows pcs on the network. I didnt check to many other middlewares
> though, only ACE, OpenRTM and Yarp (and these are all quite different
> pairs of shoes as well). Compared to these ice was definitely the
> easiest and performance-wise strongest choice. At least from my perspective.
>
> I will see that I post some example code from my application tomorrow.
>
> Klaus
>
>
> Ken Conley さんは書きました:
>> I would second what Klaus recommends (i.e. find some glue and use it).
>>
>> To answer your C# question, you can implement the communication layer of
>> ROS. It will probably take a couple of weeks, though I imagine C# is
>> harder. Of the other clients, only rospy and roscpp were implemented
>> from scratch. The rest were implemented on top of roscpp. The hard part
>> is that you'll have to write a message generator. Our format is simple,
>> but serializers take time to get right, and the lack of a ROS build
>> toolchain on Windows will probably make your workflow painful. The wire
>> protocol itself is very simple and couple be done in a day or so if
>> you're trying to do something simple.
>>
>> However, there are a lot of middlewares out there, like ICE, and you
>> just figure out what can bridge between C# on Windows and C++/Python on
>> Linux. It will probably save you a lot of time and effort. ROS is more
>> about the integration of a packaging system, online tools, and coding
>> community -- not middleware. Until we get a more complete toolchain
>> running on Windows, you might as well take a shortcut.
>>
>> - Ken
>>
>>
>> On Tue, Jun 15, 2010 at 9:15 AM, Klaus Petersen <petersen at vftb.com
>> <mailto:petersen at vftb.com>> wrote:
>>
>> Hi Aaron,
>>
>> I have done both, using the python framework to communicate from windows
>> c++ with ros nodes on linux, and checked proprietary solutions. I will
>> re-post what I think the easiest way is to communicate in the python way
>> below. However, in the end I came to prefer to communicate between
>> windows and ros using ice (www.zeroc.com <http://www.zeroc.com>) If
>> you just need to pass some
>> data, this is very easy to set up. Check the documentation, they have
>> some examples for basic remote message calling for c# as well. Ice has
>> of course a different scope than ros and can not substitute its
>> functionality (except if you build your own framework around it), but as
>> I said for quickly passing data it is excellent.
>>
>> Klaus
>>
>>
>> The former post regarding windows / python / vc++ (not c# anyway):
>>
>> To receive ros standard messages (Float32 in this example) in vc++
>> (thats what I checked it with) I did something like this:
>>
>> #undef _DEBUG
>> #include <Python.h>
>>
>> // the method that gets embedded into python
>> static PyObject* ros_indirect_callback(PyObject *self, PyObject *args)
>> {
>> double double_data;
>>
>> if (!PyArg_ParseTuple(args, "d", &double_data))
>> return NULL;
>>
>> printf("Do something with the data %f here.\n", double_data);
>>
>> return Py_BuildValue("i", 0);
>> }
>>
>> // some data in order to register the method
>> static PyMethodDef embedded_methods[] =
>> {
>> {
>> "ros_indirect_callback",
>> ros_indirect_callback,
>> METH_VARARGS,
>> ""
>> },
>> {
>> NULL,
>> NULL,
>> 0,
>> NULL
>> }
>> };
>>
>> // thread that runs the ros node (gets locked after calling spin())
>> void ros_thread::run(void)
>> {
>> Py_Initialize();
>> Py_InitModule("ros_win", embedded_methods);
>>
>> PySys_SetArgv(0, argv);
>>
>> PyRun_SimpleString("import ros_win\n"
>> "import roslib\n"
>> "import rospy\n"
>> "from std_msgs.msg import Float32" );
>>
>> PyRun_SimpleString("def callback(data):\n"
>> " ros_win.ros_indirect_callback(data.data)\n" );
>>
>> PyRun_SimpleString("rospy.init_node('listener',
>> anonymous=True)\n"
>> "rospy.Subscriber('chatter', Float32, callback)\n"
>> "rospy.spin()\n" );
>> }
>>
>>
>> To send messages:
>>
>> #undef _DEBUG
>> #include <Python.h>
>>
>> #include <string>
>> #include <boost/lexical_cast.hpp>
>>
>> using namespace std;
>>
>> void send_double_data(double v)
>> {
>> Py_Initialize();
>> PySys_SetArgv(0, argv);
>>
>> string s_str = "str = " + boost::lexical_cast<std::string>(v);
>> PyRun_SimpleString(s_str.c_str());
>>
>> PyRun_SimpleString("rospy.loginfo(str)\n"
>> "pub.publish(Float32(str))\n");
>> }
>>
>>
>> For reference:
>> http://www.ros.org/wiki/Windows
>> http://docs.python.org/extending/index.html
>> http://www.boost.org/doc/libs/1_42_0/libs/python/doc/index.html
>>
>>
>> Aaron Solochek さんは書きました:
>> > Yeah, I've read that. It addresses getting ROS running on windows,
>> > which is not what I want to do. I don't need a complete ROS
>> environment
>> > on windows. All I need is to communicate with a ROS network.
>> >
>> > My question is whether it will be fairly straight forward to
>> emulate a a
>> > very simple ROS node on windows (capable of sending joystick
>> commands),
>> > or if that will be complicated enough that I'm better off doing
>> > something proprietary for the windows<->ROS communication link.
>> >
>> > To be clear, I'm talking about trying to implement the bare minimum
>> > required to appear as a ROS node to roscore (running on another
>> machine)
>> > from scratch in C#.
>> >
>> > -Aaron
>> >
>> >
>> >
>> > On 6/14/2010 5:18 PM, Ken Conley wrote:
>> >> This wiki page has all the currently known ways of getting
>> running on
>> >> Windows:
>> >>
>> >> http://www.ros.org/wiki/Windows
>> >>
>> >> - Ken
>> >>
>> >> On Mon, Jun 14, 2010 at 11:18 AM, Aaron Solochek
>> >> <aarons-ros at aberrant.org <mailto:aarons-ros at aberrant.org>
>> <mailto:aarons-ros at aberrant.org <mailto:aarons-ros at aberrant.org>>>
>> wrote:
>> >>
>> >> The system I'm working on uses ROS on the backend for a
>> variety of
>> >> control stuff, but has a user interface that is going to be
>> written
>> >> in C#.
>> >>
>> >> What is the recommended way to get some 2-way communication
>> going
>> >> between this windows program and ROS? Should I make a node
>> on the linux
>> >> box that speaks some proprietary thing with the windows
>> program, or
>> >> should I try to implement a ROS node in C#?
>> >>
>> >> Better yet, has anyone already done something I can use for
>> this? :)
>> >>
>> >> Any advice would be appreciated, and please copy me on
>> replies since I'm
>> >> only getting the daily digest of this list.
>> >>
>> >> Thanks,
>> >>
>> >> -Aaron
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