[ros-users] ROS Web Services

Kehoe, Ben bkehoe at irobot.com
Mon Dec 21 12:20:58 UTC 2015


A similar project is ROStful, a RESTful interface for ROS, originally created by me and now being more fully developed by Alexandre Vincent: https://github.com/asmodehn/rostful

Ben Kehoe
Cloud Robotics Research Scientist
Technology Organization

iRobot
8 Crosby Drive 8-1
Bedford, MA 01730
t: 781.325.8471 
bkehoe at irobot.com

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Sent: Saturday, December 19, 2015 7:00 AM
To: ros-users at lists.ros.org
Subject: ros-users Digest, Vol 70, Issue 13

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Today's Topics:

   1. ROS Web Services (Anis Koubaa (COINS))
   2. ROS Web Services (Anis Koubaa (COINS))


----------------------------------------------------------------------

Message: 1
Date: Fri, 18 Dec 2015 21:29:42 +0300
From: "Anis Koubaa (COINS)" <akoubaa at coins-lab.org>
To: <ros-users at lists.ros.org>
Subject: [ros-users] ROS Web Services
Message-ID: <D29A2B31.1BBDD%akoubaa at coins-lab.org>
Content-Type: text/plain; charset="us-ascii"

Hello,

I have developed ROS Web Services to provide new abstractions to ROS using SOAP and REST Web services. The objective was to provide an additional software abstraction layer on top of ROS to allow a seamless interaction with ROS even for non-roboticians. We can say that ROS Web services is another alternative to rosbridge and rosjs which use the Web to interact with ROS. 

Using ROS Web services layer allow any developer with no background on robotics to develop Web service client (SOAP or REST) to monitor and control ROS-enabled robot through simple interfaces.

A
<https://urldefense.proofpoint.com/v2/url?u=http-3A__joser.unibg.it_index.php-3Fjournal-3Djoser-26page-3Darticle-26op-3Dview-26path-255B-25-25205D-3D97&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=r-ZJYCpF73ejbVi2Mh2VOaBqL02kDMVZ3so-8PAUlA8&e= > paper presenting ROS Web services
<https://urldefense.proofpoint.com/v2/url?u=http-3A__joser.unibg.it_index.php-3Fjournal-3Djoser-26page-3Darticle-26op-3Dview-26path-255B-25-25205D-3D97-26path-255B-255D-3D30&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=aYGQScx5IJO2Xz4eu9ExVzm-sxg7qC551QckqtmLm1c&e= >   is published in The Journal of Software Engineering
for Robotics. In the paper, I present an object-oriented design of software meta-models for the integration of both Web services into ROS and we validate it through a real implementation on a service robot. Implementation was performed using ROSJAVA under Hyrdo version.

A video illustration is also available on this link <https://urldefense.proofpoint.com/v2/url?u=https-3A__www.youtube.com_watch-3Fv-3DWvjY5XjAX7U&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=j2Y14_2eores5ygKqt4FPPQ8VwYzkKLf9DxCjunko6w&e= > . A brief description is also available here <https://urldefense.proofpoint.com/v2/url?u=http-3A__wiki.coins-2Dlab.org_index.php-3Ftitle-3DMybot&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=d9iHdjSfpYB1Z4-5kUUp0poPu1-7qa7lFGBLDsl-KjY&e= > .

I still did not release the code due to lack of time, but should post it on GITHUB soon. Any comment on this will be welcome.
We are working now on extending ROS Web services with new features and we plan to apply them in ROS-enabled drones.

Thanks
Anis

--------------------------------------------
Anis Koubaa, PhD.,
Senior Fellow of the HEA (SFHEA)
ACM Chapter Chair (Saudi Arabia)
Associate Professor
Prince Sultan University, Saudi Arabia
https://urldefense.proofpoint.com/v2/url?u=http-3A__www.dei.isep.ipp.pt_-7Eakoubaa&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=esVyn2BzhtaElAoFI4ol-UctHgNeoU72zydbUKBayR4&e=
https://urldefense.proofpoint.com/v2/url?u=http-3A__wiki.coins-2Dlab.org&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=GD4WXmhDSgkej6ebp5ioFz9eEAGD8oVAqKJ_QMT6Tuk&e=
--------------------------------------------



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Message: 2
Date: Fri, 18 Dec 2015 20:42:02 +0300
From: "Anis Koubaa (COINS)" <akoubaa at coins-lab.org>
To: <ros-users at lists.ros.org>
Subject: [ros-users] ROS Web Services
Message-ID: <D29A1D20.1BBC5%akoubaa at coins-lab.org>
Content-Type: text/plain; charset="us-ascii"

Hello,

I have developed ROS Web Services to provide new abstractions to ROS using SOAP and REST Web services. The objective was to provide an additional software abstraction layer on top of ROS to allow a seamless interaction with ROS even for non-roboticians. We can say that ROS Web services is another alternative to rosbridge and rosjs which use the Web to interact with ROS. 

Using ROS Web services layer allow any developer with no background on robotics to develop Web service client (SOAP or REST) to monitor and control ROS-enabled robot through simple interfaces.

A paper presenting ROS Web services
<https://urldefense.proofpoint.com/v2/url?u=http-3A__joser.unibg.it_index.php-3Fjournal-3Djoser-26page-3Darticle-26op-3Dview-26path-255B-25-25205D-3D97-26path-255B-255D-3D30&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=aYGQScx5IJO2Xz4eu9ExVzm-sxg7qC551QckqtmLm1c&e= >
<https://urldefense.proofpoint.com/v2/url?u=http-3A__joser.unibg.it_index.php-3Fjournal-3Djoser-26page-3Darticle-26op-3Dview-26path-255B-25-25205D-3D97-26path-255B-255D-3D30&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=aYGQScx5IJO2Xz4eu9ExVzm-sxg7qC551QckqtmLm1c&e= >   is published in The Journal of Software Engineering
for Robotics. In the paper, I present an object-oriented design of software meta-models for the integration of both Web services into ROS and we validate it through a real implementation on a service robot. Implementation was performed using ROSJAVA under Hyrdo version.

A video illustration is also available on this link <https://urldefense.proofpoint.com/v2/url?u=https-3A__www.youtube.com_watch-3Fv-3DWvjY5XjAX7U&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=j2Y14_2eores5ygKqt4FPPQ8VwYzkKLf9DxCjunko6w&e= > . A brief description is also available here <https://urldefense.proofpoint.com/v2/url?u=http-3A__wiki.coins-2Dlab.org_index.php-3Ftitle-3DMybot&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=d9iHdjSfpYB1Z4-5kUUp0poPu1-7qa7lFGBLDsl-KjY&e= > .

I still did not release the code due to lack of time, but should post it on GITHUB soon. Any comment on this will be welcome.
We are working now on extending ROS Web services with new features and we plan to apply them in ROS-enabled drones.

Thanks
Anis

--------------------------------------------
Anis Koubaa, PhD.,
Senior Fellow of the HEA (SFHEA)
ACM Chapter Chair (Saudi Arabia)
Associate Professor
Prince Sultan University, Saudi Arabia
https://urldefense.proofpoint.com/v2/url?u=http-3A__www.dei.isep.ipp.pt_-7Eakoubaa&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=esVyn2BzhtaElAoFI4ol-UctHgNeoU72zydbUKBayR4&e=
https://urldefense.proofpoint.com/v2/url?u=http-3A__wiki.coins-2Dlab.org&d=CwICAg&c=jIGm9aumLIlctTGl0fKZ3w&r=T9jHm7ibePdwbSCEamc-yiG1bmJMRzNGhgc3abMXR8s&m=KPpH4ZcAD1dxcxM4fv0npdV1XFcfJtxxqlfeuXws3dY&s=GD4WXmhDSgkej6ebp5ioFz9eEAGD8oVAqKJ_QMT6Tuk&e=
--------------------------------------------



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