<html><head></head><body style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; color: rgb(0, 0, 0); font-size: 14px; font-family: Arial, sans-serif;"><div><div><div>Hi</div><div><br></div><div>I just released my code of <a href="http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%5D=97&path%5B%5D=30">ROS Web Services</a> on GitHub.</div><div><a href="https://github.com/aniskoubaa/ROSWebServices">https://github.com/aniskoubaa/ROSWebServices</a></div><div><br></div><div>Example with Turtlesim can be easily tested, but the example of the video illustration <a href="https://www.youtube.com/watch?v=WvjY5XjAX7U">on this link</a> will require some configuration as it relies on the rbx1 package of ROS By Examples book. </div><div>The readme file presents some more hints on the steps.</div><div><br></div><div>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.</div><div>Just creating messages in ROS and making them available to ROSJAVA was a tedious process.</div><div><br></div><div>This is related to Hydro version, and not sure if Indigo brought better comfort with ROSJAVA.</div><div><br></div><div>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.</div><div><br></div><div>Just to give my feedback on this to the community, and open for discussions.</div><div><br></div><div>Thanks</div><div>Anis</div><div><br></div><div><div><div style="font-family: Calibri;"><div><font face="Courier">--------------------------------------------</font></div><div><font face="Courier">Anis Koubaa, PhD., </font></div><div><font face="Courier">Senior Fellow of the HEA (SFHEA)</font></div><div><font face="Courier">ACM Chapter Chair (Saudi Arabia) </font></div><div><font face="Courier">Associate Professor</font></div><div><font face="Courier">Prince Sultan University, Saudi Arabia</font></div><div style="font-size: medium;"><font face="Courier">http://www.dei.isep.ipp.pt/~akoubaa</font></div><div style="font-size: medium;"><font face="Courier">http://wiki.coins-lab.org</font></div><div style="font-size: medium;"><font face="Courier">--------------------------------------------</font></div></div></div><div><br></div></div></div></div><div><br></div><span id="OLK_SRC_BODY_SECTION"><div style="font-family:Calibri; font-size:11pt; text-align:left; color:black; BORDER-BOTTOM: medium none; BORDER-LEFT: medium none; PADDING-BOTTOM: 0in; PADDING-LEFT: 0in; PADDING-RIGHT: 0in; BORDER-TOP: #b5c4df 1pt solid; BORDER-RIGHT: medium none; PADDING-TOP: 3pt"><span style="font-weight:bold">From: </span> "Anis Koubaa (COINS) via ros-users" <<a href="mailto:ros-users@lists.ros.org">ros-users@lists.ros.org</a>><br><span style="font-weight:bold">Reply-To: </span> Anis Koubaa <<a href="mailto:akoubaa@coins-lab.org">akoubaa@coins-lab.org</a>>, User discussions <<a href="mailto:ros-users@lists.ros.org">ros-users@lists.ros.org</a>><br><span style="font-weight:bold">Date: </span> Friday, December 18, 2015 at 8:42 PM<br><span style="font-weight:bold">To: </span> <<a href="mailto:ros-users@lists.ros.org">ros-users@lists.ros.org</a>><br><span style="font-weight:bold">Subject: </span> [ros-users] ROS Web Services<br></div><div><br></div><div><div style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; color: rgb(0, 0, 0); font-size: 14px; font-family: Arial, sans-serif;"><div>Hello,</div><div><br></div><div>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. </div><div><br></div><div>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. </div><div><br></div><div>A <a href="http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%5D=97"></a><a href="http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%5D=97&path%5B%5D=30">paper presenting ROS Web services</a> 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.</div><div><br></div><div>A video illustration is also available <a href="https://www.youtube.com/watch?v=WvjY5XjAX7U">on this link</a>. A brief description is also available <a href="http://wiki.coins-lab.org/index.php?title=Mybot">here</a>. </div><div><br></div><div>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. </div><div>We are working now on extending ROS Web services with new features and we plan to apply them in ROS-enabled drones.</div><div><br></div><div>Thanks</div><div>Anis</div><div><br></div><div><div><div style="font-family: Calibri;"><div><font face="Courier">--------------------------------------------</font></div><div><font face="Courier">Anis Koubaa, PhD., </font></div><div><font face="Courier">Senior Fellow of the HEA (SFHEA)</font></div><div><font face="Courier">ACM Chapter Chair (Saudi Arabia) </font></div><div><font face="Courier">Associate Professor</font></div><div><font face="Courier">Prince Sultan University, Saudi Arabia</font></div><div style="font-size: medium;"><font face="Courier"><a href="http://www.dei.isep.ipp.pt/~akoubaa">http://www.dei.isep.ipp.pt/~akoubaa</a></font></div><div style="font-size: medium;"><font face="Courier"><a href="http://wiki.coins-lab.org">http://wiki.coins-lab.org</a></font></div><div style="font-size: medium;"><font face="Courier">--------------------------------------------</font></div></div></div><div><br></div></div></div></div>
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