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Sharp ideas for the software side of robotics

Entries for the ‘ROS’ Category

A Sampling of ROS Integration Packages

A computer science professor of mine, “back in the day,” once said that the greatest challenge in the future of software development will rest in the realm of integration. This is certainly true in robotics, if nowhere else. Due to the complexity involved with robotics, developers typically focus on very specific problems and develop very […]

Developing Well-Designed Packages for Robot Operating System (ROS), Part VI

Part VI: Adding a UI Layer to the Package As the last and final chapter to this series of posts (Part I, II, III, IV, V), we’ll be adding a basic UI layer to facilitate user interaction with the underlying layers of our package. Specifically, a UI will be developed to allow the user (e.g., […]

Developing Well-Designed Packages for Robot Operating System (ROS), Part V

Part V: Developing and Testing the ROS Message Endpoint [Author's note, July 28, 2010: Introduced Boost::shared_ptr to manage reference to message endpoint so as to enable postponed construction, as will be required in Part VI.] While this series (Part I, II, III, IV) has been specifically written to address writing well-designed packages for ROS, we’ve […]

Robot Operating System (ROS) Command Cheat Sheet

So far, I have found ROS to be logical, concise and easy to use (after going through all of the tutorials and practicing with it a bit). Honestly, I’ve found it to be more intuitive and tractable (i.e., more enjoyable to work with) than Microsoft Robotics Developer Studio; albeit, I have not yet used the […]

Developing Well-Designed Packages for Robot Operating System (ROS), Part IV

Part IV: Developing and Testing the Application Services [Author's note, July 28, 2010: Introduced Boost::shared_ptr to manage reference to message endpoint so as to enable postponed construction, as will be required in Part VI.] Ah, we’ve made it to the application services layer.  After defining the architecture, setting up the package, and implementing the core […]

Developing Well-Designed Packages for Robot Operating System (ROS), Part III

Part III:  Developing and Testing the Domain Layer [Author's note, July 28, 2010: Fixed minor bug in LaserScanReader.cpp wherein it couldn't be restarted after being stopped; had to reset _stopRequested to false.] In Part II of this series, we created the humble beginnings of the package and added folders to accommodate all of the layers […]

Developing Well-Designed Packages for Robot Operating System (ROS), Part II

Part II:  Creating the Package Skeleton In Part I of this series, we examined the overall architecture that will be put in place with the development of the ROS package.  It’s time to get our hands dirty and put the theory hypothesis to work!  Accordingly, this post in the series will focus on putting together […]

Developing Well-Designed Packages for Robot Operating System (ROS), Part I

In previous posts, I discussed general patterns of message-based systems along with basic guidance on developing components for such systems.  While these posts may have provided basic information about their respective topics, there’s a clear difference between theory and implementation.  (The former is easier to fake.)  Accordingly, it’s time to get our hands dirty and […]

  

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