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Welcome to the cisst_ros_integration wiki!
cisst-ros is a ROS stack that provides a bridge for a cisst component to communicate with other ROS nodes. This tutorial covers build process, setup bridge and provides an example.
cisst_ros_bridge depends on CISST library.
Check README.md in repository https://github.com/jhu-cisst/cisst-ros
# start example
rosrun cisst_ros_bridge example_bridge This example publishes to /sawROSExample/get_value_1 and subscribes to /sawROSExample/set_value_1. In one terminal try echo the /sawROSExample/get_value_1 topic using rostopic echo /sawROSExample/get_value_1. Now open another terminal and type rostopic pub -1 /sawROSExample/set_value_1 std_msgs/Double 10 to change the value1 in the test component. At this time point, you should see the /sawROSExample/get_value_1 the Value1 has been set to 10.
A bridge class is both a mtsTaskPeriod component and a ROS node.
For a complete list of supported command see the next table:
| Cisst | ROS | Function |
|---|---|---|
| ReadCommand | Publisher | AddPublisherFromReadCommand |
| EventVoid | Publisher | AddPublisherFromEventVoid |
| EventWrite | Publisher | AddPublisherFromEventWrite |
- How to add cisst_msgs
- How to add more data type
- Update version number in all 3 packages and create a release, all development should be in devel branch
- Add support for required interface
- Pass a default rosData type, such that we can pass information like header.frame_id