rtt_ros

RTT ROS

This package contains tools for building and running Orocos components integrated into a ROS architecture.

RTT Services

ROS Package Import Chaining Service

The "ros" RTT service can be used to import all of the RTT plugins built in a given ROS package along with plugins on which they depend. These dependencies are specified in package.xml files in the <export> section.

For example, all RTT plugins in the ROS package "my_package_name" along with its dependencies can be imported by running the following Orocos .ops script (or calling the appropriate operation on the "ros" global service):

import("rtt_ros")
ros.import("my_pkg_name")

When doing the above, first the rtt_ros package is imported using the normal mechanism. This then loads the ros service, which provides a ROS import function, ros.import(), which will parse ROS package metadata and import the Orocos plugins from the named package and all packages listed in <rtt_ros><plugin_depend>PKG_NAME</plugin_depend></rtt_ros> tags in the <export> section of the package.xml files.

Catkin introduces several new dependency types for buildtime, development, and other purposes. In order to keep the RTT plugin depdencencies clear, and avoid trying to load orocos components from every package dependency, we use the extensible ROS metadata <export> tag.

For example, if loading the plugins from package pkg_one should necessitate first loading plugins from packages rtt_roscomm and pkg_two, then pkg_one/package.xml should have the following:

<package>
  <name>pkg_one</name>
  <!-- ... -->
  <export>
    <rtt_ros>
      <plugin_depend>rtt_roscomm</plugin_depend>
      <plugin_depend>pkg_two</plugin_depend>
    </rtt_ros>
  </export>
</package>

Launch Files

• deployer.launch Launch the orocos deployer
  • LOG_LEVEL (default "info") The Orocos log level
  • DEPLOYER_ARGS (default "") Additional arguments passed to the deployer
  • OROCOS_TARGET (default $OROCOS_TARGET)
  • RTT_COMPONENT_PATH (default $LD_LIBRARY_PATH)
  • DEBUG (default false) Launch the deployer in GDB.

Launchfile Examples

For example, the deployer can be launched by including the launchfile in another launchfile like the following:

<launch>
  <include file="$(find rtt_ros)/launch/deployer.launch">
    <arg name="DEPLOYER_ARGS" value="-s $(find rtt_ros_integration_example)/example.ops"/>
    <arg name="LOG_LEVEL" value="debug"/>
    <arg name="DEBUG" value="false"/>
  </include>
</launch>

Wrapper Scripts

• deployer
• orocreate-pkg
• orogen
• orogen-unregister
• rttlua
• rttlua-tlsf
• rttscript
• typegen