ROS Interface sub-package for Pyros
- OS is Ubuntu Trusty
- ROS is already known. If not, get informations and tutorials on http://ros.org
- Install useful python packages if you don't already have them :
$ sudo apt-get install virtualenvwrapper- Install ROS Indigo : http://wiki.ros.org/indigo/Installation/Ubuntu TL;DR :
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
$ sudo apt-get update
$ sudo apt-get install ros-indigo-desktop
$ sudo rosdep initRun the ROS talker and listener nodes as usual using roslaunch, in a separate terminal :
$ source /opt/ros/indigo/setup.bash
$ roslaunch roscpp_tutorials talker_listener.launch
Now you can run the pyros ROS interface node :
- from ROS itself (using the launcher provided),
- OR from a separate python virtual environment, that will access your ROS environment via pyros-setup.
TODO
$ mkvirtualenv pyros-ros --system-site-packages
$ workon pyros-ros
(pyros-ros) $ pip install pyros_interfaces_ros
[...]
$ python -m pyros_interfaces_ros --sub ".*"
Re-adding /opt/ros/jade/lib/python2.7/dist-packages in front of sys.path
[pyros] Node started as [None <= ipc:///tmp/zmp-pyros-jRbGSV/services.pipe]
[INFO] [WallTime: 1493198579.422698] RosInterface pyros node started with args : []
[INFO] [WallTime: 1493198579.426763] [pyros_interfaces_ros.ros_interface] ROS Interface initialized with:
- services : []
- publishers : []
- subscribers :
- .*
- params : []
- enable_cache : False
[INFO] [WallTime: 1493198580.437716] /pyros Pyros.ros : Adding publisher interface /chatter <class 'std_msgs.msg._String.String'>
[INFO] [WallTime: 1493198580.843025] /pyros Pyros.ros : Adding publisher interface /rosout <class 'rosgraph_msgs.msg._Log.Log'>
TODO : using dynamic_reconfigure you can dynamically adjust what is exposed or not, without restarting the node.
From this point on, you will need the Pyros framework installed to be able to interract with the ROS system using the pyros client.