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Merge pull request #45 from MartinBischoff/master
New ROS# message handling framework
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| # [ROS](https://github.com/siemens/ros-sharp/tree/master/ROS) # | ||
| ... contains code for [ROS](http://wiki.ros.org/) nodes and [ROS](http://wiki.ros.org/) launch files which are useful to [RosBridgeClient](https://github.com/siemens/ros-sharp/tree/master/RosBridgeClient) and/or [UrdfImporter](https://github.com/siemens/ros-sharp/tree/master/UrdfImporter). | ||
| contains the following [ROS](http://wiki.ros.org/) packages: | ||
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| ## [file_server](https://github.com/siemens/ros-sharp/tree/master/ROS/file_server) | ||
| ... provides a [ROS](http://www.ros.org/) node with a service to send file contents. | ||
| * [file_server](https://github.com/siemens/ros-sharp/tree/master/ROS/file_server) | ||
| * Launch [file_server.launch](https://github.com/MartinBischoff/ros-sharp/blob/master/ROS/file_server/launch/file_server.launch) to provide the ROS service `/file_server/get_file` for sending file contents. | ||
| This service is called by [UrdfIUmporter.cs](https://github.com/siemens/ros-sharp/blob/master/RosBridgeClient/UrdfImporter.cs) to receive URDF resource files (meshes and textures) via [rosbridge_suite](http://wiki.ros.org/rosbridge_suite). | ||
| * Launch [publish_description_turtlebot2.launch] (https://github.com/MartinBischoff/ros-sharp/blob/master/ROS/file_server/launch/publish_description_turtlebot2.launch) to provide the ROS `/robot_description` parameter for [Turtlebot2](http://wiki.ros.org/Robots/TurtleBot). | ||
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| ... is required for receiving meshes and textures referenced in a [URDF](http://wiki.ros.org/urdf) via [UrdfImporter](https://github.com/siemens/ros-sharp/tree/master/UrdfImporter). | ||
| * [gazebo_simulation_scene](https://github.com/siemens/ros-sharp/tree/master/ROS/gazebo_simulation_scene) | ||
| * Launch ``gazebo_simulation_scene.launch`` to initialize ROS for the Gazebo Simulation Scene. | ||
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| ## [joy_to_vel](https://github.com/siemens/ros-sharp/tree/master/ROS/joy_to_vel) | ||
| ... provides a [ROS](http://www.ros.org/) node subscribing a [Joy message](http://docs.ros.org/api/sensor_msgs/html/msg/Joy.html) and publishing corresponding [Twist message](http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html) | ||
| * [unity_simulation_scene](https://github.com/siemens/ros-sharp/tree/master/ROS/unity_simulation_scene) | ||
| * Launch ``unity_simulation_scene`` to initialize ROS for the Unity Simulation Scene. | ||
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| ... is useful for working with [VelocitySubscriber](https://github.com/siemens/ros-sharp/blob/master/Unity3D/Assets/RosSharp/Scripts/VelocitySubscriber.cs) and there is no other ROS node providing a `\cmd_vel` topic. | ||
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| ### Please see the [Wiki](https://github.com/siemens/ros-sharp/wiki) for further info. ### | ||
| __Please see the [Wiki](https://github.com/siemens/ros-sharp/wiki) for further info.__ | ||
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| --- | ||
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| © Siemens AG, 2017 | ||
| © Siemens AG, 2017-2018 | ||
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| Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) |
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| <!-- | ||
| © Siemens AG, 2017-2018 | ||
| Author: Verena Röhrl (verena.roehrl@siemens.com) | ||
| Licensed under the Apache License, Version 2.0 (the "License"); | ||
| you may not use this file except in compliance with the License. | ||
| You may obtain a copy of the License at | ||
| <http://www.apache.org/licenses/LICENSE-2.0>. | ||
| Unless required by applicable law or agreed to in writing, software | ||
| distributed under the License is distributed on an "AS IS" BASIS, | ||
| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| See the License for the specific language governing permissions and | ||
| limitations under the License. | ||
| --> | ||
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| <launch> | ||
| <node name="file_server" pkg="file_server" type="file_server" output="screen"/> | ||
| </launch> |
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ROS/file_server/launch/publish_description_turtlebot2.launch
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| <!-- | ||
| © Siemens AG, 2018 | ||
| Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com) | ||
| Licensed under the Apache License, Version 2.0 (the "License"); | ||
| you may not use this file except in compliance with the License. | ||
| You may obtain a copy of the License at | ||
| <http://www.apache.org/licenses/LICENSE-2.0>. | ||
| Unless required by applicable law or agreed to in writing, software | ||
| distributed under the License is distributed on an "AS IS" BASIS, | ||
| WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| See the License for the specific language governing permissions and | ||
| limitations under the License. | ||
| --> | ||
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| <launch> | ||
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| <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"> | ||
| <param name="port" value="9090"/> | ||
| </include> | ||
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| <node name="file_server" pkg="file_server" type="file_server" output="screen"/> | ||
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| <arg name="base" default="$(env TURTLEBOT_BASE)" /> | ||
| <arg name="stacks" default="$(env TURTLEBOT_STACKS)" /> | ||
| <arg name="3d_sensor" default="$(env TURTLEBOT_3D_SENSOR)"/> | ||
| <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'" /> | ||
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| <param name="robot_description" command="$(arg urdf_file)" /> | ||
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| </launch> | ||
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