<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
<head>
<meta content="text/html; charset=ISO-8859-1"
http-equiv="Content-Type">
</head>
<body text="#000000" bgcolor="#ffffff">
Tully,<br>
<br>
I am talking about end user products. We need to integrate things
into one Windows application. What's going on behind the scene
doesn't matter but these things are directly visible to the user.<br>
<br>
Best wishes<br>
Christian<br>
<br>
<blockquote
cite="mid:AANLkTi=te3y_fDnfi0sgeBNURK2GuSSy2A==gX8FvMP+@mail.gmail.com"
type="cite">Christian, <br>
<br>
For a slightly lower effort you could run the roscore inside a VM
on the windows machine with a known IP. roscore has a pretty
small footprint and overhead so it could use a relatively small
VM. I know it feels a little excessive, but I expect it will get
you going quicker. <br>
<br>
Tully<br>
<br>
<div class="gmail_quote">On Mon, Feb 7, 2011 at 8:44 AM, Ken
Conley <span dir="ltr"><<a moz-do-not-send="true"
href="mailto:kwc@willowgarage.com">kwc@willowgarage.com</a>></span>
wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt
0.8ex; border-left: 1px solid rgb(204, 204, 204);
padding-left: 1ex;">
Hi Christian,<br>
<br>
In the 'ronin' and 'rosproxy' package we explore various
solutions to<br>
the problem you describe. In general, all you need to do is
have<br>
another program register the remote node on another master.
The<br>
'register.py' script in rosproxy contains code to do this.
What you<br>
need is the IP address of the remote node, plus the port of
the TCPROS<br>
server that it is running. This will let you connect to a
remote<br>
publisher; a remote subscriber is more difficult because a
subscriber<br>
needs regular callbacks to notify it of a new publisher. The
ronin<br>
node, in Python, is a node that is capable of re-attaching to
masters.<br>
<br>
You can force a roscpp node to bind to a particular TCPROS
port by using:<br>
<br>
__tcpros_server_port:=<port_num><br>
<br>
as a command-line argument. Unfortunately this option does
exist in<br>
rospy yet, though it could be hacked in.<br>
<br>
In the longer term, we want to explore mDNS/Avahi-based
solutions for<br>
doing the network config. There are some packages that
already<br>
experiment with this, such as Jon Fink's bonjour-based
multimaster:<br>
<br>
<a moz-do-not-send="true"
href="https://github.com/jonfink/multimaster-ros-pkg"
target="_blank">https://github.com/jonfink/multimaster-ros-pkg</a><br>
<br>
It might be a solution to the problems you describe, but I
don't have<br>
first-hand experience with it.<br>
<font color="#888888"><br>
- Ken<br>
</font>
<div>
<div class="h5"><br>
On Mon, Feb 7, 2011 at 3:16 AM, Christian Verbeek<br>
<<a moz-do-not-send="true"
href="mailto:verbeek@servicerobotics.eu">verbeek@servicerobotics.eu</a>>
wrote:<br>
> Dear all,<br>
><br>
> It might be quite unusual but I would like to
communicate with a ROS<br>
> system without connecting to a roscore. The problem I
see is the<br>
> following. My robots run Ubuntu and are perfectly
suited to run ROS. The<br>
> app for programming these robots is a Windows
program. We already ported<br>
> ROS to Windows (<a moz-do-not-send="true"
href="http://ros-win32.servicerobotics.eu/"
target="_blank">http://ros-win32.servicerobotics.eu/</a>).
In general we<br>
> would be able to integrate ROS into our Windows app
and connect to the<br>
> roscore running on the robots.<br>
><br>
> This will not do for the following reasons:<br>
><br>
> 1) The IP address of the robot is not fixed, i.e. can
be change by the<br>
> user. In order to be able to connect from the outside
to the robot<br>
> ROS_MASTER_URI and ROS_IP on the robot would have to
reflect the current<br>
> IP address. This might not be a general problem but
makes things quite<br>
> complicated for the user when the IP address has to
be changed. I would<br>
> prefer to set ROS_MASTER_URI and ROS_IP on the robot
to 127.0.0.1 as<br>
> this will always work.<br>
><br>
> 2) We also have a simulator for our robot which is
also a Windows<br>
> application. If we would use ROS to connect to our
robot we would have<br>
> to run a roscore on Windows and connect the simulated
robot to this ROS<br>
> master. With a single simulated robot this might
work. But when we<br>
> simulate more than one robot we are getting in very
big trouble because<br>
> there are many statics in libros. The robots are
loaded at runtime to<br>
> the simulator and the statics make it impossible to
handle the robots<br>
> individually as it is done right now.<br>
><br>
> What we would need is a point to point communication
with a specific ROS<br>
> node. We know the IP address of the robot and we know
which nodes are<br>
> running there. Is there a way to connect to a node's
topic directly? Or<br>
> is there a better solution to my problem?<br>
><br>
> Regards<br>
> Christian<br>
><br>
> _______________________________________________<br>
> ros-users mailing list<br>
> <a moz-do-not-send="true"
href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
> <a moz-do-not-send="true"
href="https://code.ros.org/mailman/listinfo/ros-users"
target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
><br>
_______________________________________________<br>
ros-users mailing list<br>
<a moz-do-not-send="true"
href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a><br>
<a moz-do-not-send="true"
href="https://code.ros.org/mailman/listinfo/ros-users"
target="_blank">https://code.ros.org/mailman/listinfo/ros-users</a><br>
</div>
</div>
</blockquote>
</div>
<br>
<br clear="all">
<br>
-- <br>
Tully Foote<br>
Systems Engineer<br>
Willow Garage, Inc.<br>
<a moz-do-not-send="true" href="mailto:tfoote@willowgarage.com">tfoote@willowgarage.com</a><br>
(650) 475-2827<br>
<pre wrap="">
<fieldset class="mimeAttachmentHeader"></fieldset>
_______________________________________________
ros-users mailing list
<a class="moz-txt-link-abbreviated" href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a>
<a class="moz-txt-link-freetext" href="https://code.ros.org/mailman/listinfo/ros-users">https://code.ros.org/mailman/listinfo/ros-users</a>
</pre>
</blockquote>
<br>
<pre class="moz-signature" cols="72">
</pre>
</body>
</html>