[ros-users] [Ros-developers] ROS messages outside ROS nodes

Troy Straszheim straszheim at willowgarage.com
Tue Dec 6 04:15:00 UTC 2011

On Mon, Dec 5, 2011 at 6:10 PM, Trevor Jay <tjay at cs.brown.edu> wrote:

> Actually, I think that answers my question. :) I was dense and didn't
> quite grok on first glance that this was the beginning of being able
> to include much less of ROS when making use of the message system.
> This is a really really good direction. This can't come to my
> distribution soon enough.

Glad to hear it.  As you can see, my working usecase was "multicast ROS
messages without [roscpp | rosmaster | ROS_* in environment | xml of any
kind | rosmake]".  Those dependencies have been substituted for
boost::asio, a single ros library, and an assortment of fairly advanced
CMake infrastructure known as "catkin".    I don't expect this to work for
everybody.  I'd like to see more prototypes, and hear from those familiar
with difficult integration scenarios.   Where does this fall short?  Don't
be shy.  Ask questions.

Also coming up, very soon, are boost::python bindings to ROS messages.
 This will enable yet more interesting patterns.

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