Integration with ROS is nowadays an "almost mandatory" feature for any robotic architecture. XBot2 recognizes this, and provides handy adapters between our internal topics and services (which are anyhow heavily ROS-inspired) and the ROS implementation. As final result, the implementer of a real-time plugin can
- subscribe to ROS topics and have the corresponding callback called inside its own thread (no additional synchronization needed)
- advertise a ROS service and have the corresponding callback called inside its own thread (no additional synchronization needed)
- publish to ROS topics with the same XBot2 publisher API