[ros-users] Pharo client for ROS.

[Jack O'Quin]

Please ask these questions (preferably one at a time) on answers.ros.org. See:

 http://www.ros.org/wiki/Support#Guidelines_for_asking_a_question_.28Please_read_before_posting.29

Thanks!

On Thu, Sep 13, 2012 at 1:26 PM, Santiago Bragagnolo
<santiagobragagnolo at gmail.com> wrote:
> 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 type?
>
> - Is any definition of a common TCPROS package to take as example of topic
> usage?
>
>   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 useful
> data.
>
>  The process i'm following is:
>
>   execute roscore
>   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:
>
> header
>         type: master getTopicTypeRelated:/turtle1/command_velocity;  #here i
> get the topicType from getTopicTypes
>         topic: /turtle1/command_velocity;
>         latching: false;
>         callerId: anArbitraryId;
>         messageDefinition: 'float32 linear
> float32 angular';
>         md5Sum:'9d5c2dcd348ac8f76ce2a4307bd63a13'.
>
> in the body of the request i tried with float numbers (2.0 0.0) for example.
>
> 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
> missing steps?
>
>
> Thank you very much!
>
>
> Santiago.
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-- 
 joq