[ros-users] ROS Web Services - on GitHub

[Anis Koubaa (COINS)]

Hi

I just released my code of ROS Web Services
<http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%
5D=97&path%5B%5D=30>  on GitHub.
https://github.com/aniskoubaa/ROSWebServices

Example with Turtlesim can be easily tested, but the example of the video
illustration  on this link <https://www.youtube.com/watch?v=WvjY5XjAX7U>
will require some configuration as it relies on the rbx1 package of ROS By
Examples book. 
The readme file presents some more hints on the steps.

Based on our experience, working with rosjava was tedious and unfortunately,
the easiness of the Java language cannot be fully utilized considering the
difficulty of setting up ROS applications with ROSJAVA.
Just creating messages in ROS and making them available to ROSJAVA was a
tedious process.

This is related to Hydro version, and not sure if Indigo brought better
comfort with ROSJAVA.

To make better use of a ROS Web services, we plan to port them to Python
considering that it is more naturally supported by ROS.

Just to give my feedback on this to the community, and open for discussions.

Thanks
Anis

--------------------------------------------
Anis Koubaa, PhD., 
Senior Fellow of the HEA (SFHEA)
ACM Chapter Chair (Saudi Arabia)
Associate Professor
Prince Sultan University, Saudi Arabia
http://www.dei.isep.ipp.pt/~akoubaa
http://wiki.coins-lab.org
--------------------------------------------


From:  "Anis Koubaa (COINS) via ros-users" <ros-users at lists.ros.org>
Reply-To:  Anis Koubaa <akoubaa at coins-lab.org>, User discussions
<ros-users at lists.ros.org>
Date:  Friday, December 18, 2015 at 8:42 PM
To:  <ros-users at lists.ros.org>
Subject:  [ros-users] ROS Web Services

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  
<http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%
5D=97> paper presenting ROS Web services
<http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%
5D=97&path%5B%5D=30>   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://www.youtube.com/watch?v=WvjY5XjAX7U> . A brief description is also
available here <http://wiki.coins-lab.org/index.php?title=Mybot> .

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
http://www.dei.isep.ipp.pt/~akoubaa
http://wiki.coins-lab.org
--------------------------------------------

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