[ros-users] Pharo client for ROS.
santiagobragagnolo at gmail.com
Thu Sep 13 18:26:21 UTC 2012
Hi Ros people! My name is Santiago, i'm just beginning in robot-world, and
i'm making a client from Pharo smalltalk. My first goal is make work the
turtle simulator from XMLRPC.
So i have several questions, but right now i have two most important:
Considering a remote client (without direct access to server):
- How can i get the message definition related to a topic? Can i ask to
the topic? Does the topic answer me in the error text something about the
- Is any definition of a common TCPROS package to take as example of topic
In this case, i'd spend a lot of time today trying to send messages to
the turtle throgh the velocity topic without any response (no movement, no
error, no feedback at all) and i tried with the logs, but without any
The process i'm following is:
execute turtle node
then, from the client
register as publisher in Velocity topic
with the IP:PORT recived connect to the node with a TCP/ip connection
sending a message with:
type: master getTopicTypeRelated:/turtle1/command_velocity; #here
i get the topicType from getTopicTypes
messageDefinition: 'float32 linear
in the body of the request i tried with float numbers (2.0 0.0) for
All this data in binary.
I browse a lot of roscpp, rospy and rosjava trying to find how them create
and serialize the data, but i dont find meaningful differences. Maybe i'm
Thank you very much!
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