A lightweight package for providing and consuming ROS services, actions, and topics as RESTful web services
The usual Pythonic way of doing it is something like this:
_ROCON = False
try:
import rocon
_ROCON = True
except: pass
if _ROCON:
def func_that_uses_rocon():
pass
class RoconWrapper(object):
pass
class SomeClass(object):
def always_want_this(self):
pass
if _ROCON:
def this_method_only_with_rocon(self):
passDoes that make sense?
You can see a more complicated example in my tfx package (which gives much more convenient transform classes than tf; let me know if you want to know more about it) https://bitbucket.org/benkehoe/tfx/src/19d68953da5bc84804ca91ad85d980fc4146cae6/src/tfx/canonical.py?at=default
Hi everyone,
I recently realized that I needed another interface from outside (celery task scheduler) to ROS. So I started splitting rostful's rosinterface into another package, that I can unittest and reuse even without rostful. It s there https://github.com/asmodehn/rostful-node, feel free to have a look and let me know if you have any comment. I m currently writing basic tests for it and fixing things along the way.
I recently realized that I needed another interface from outside (celery task scheduler) to ROS. So I started splitting rostful's rosinterface into another package, that I can unittest and reuse even without rostful. It s there https://github.com/asmodehn/rostful-node, feel free to have a look and let me know if you have any comment. I m currently writing basic tests for it and fixing things along the way.
@benkehoe I am wondering about some design detail inside rostful. When adding or removing Topic, Service, and Action, a lot of method have a
if ws_name is None:
ws_name = topic_name
if ws_name.startswith('/'):
ws_name = ws_name[1:]I couldn't figure out so far what was the use of it... I am always using only the first case... Could you please explain it to me ?
I ll be happy to get some help to maintain the whole pyros suite if you re interested, let me know !
http2 and push are both advanced things in a way. I am setting up a turtlebot3 -- what kind of robot do you have?
ROS integrate pretty bad with python, so I had to rebuild a lot of things before being able to integrate with web and stuff...
and things that are already "working good enough" are not the focus of most companies, so maintenance is lacking, sadly...
yeah I understand. well we're earlier and in a teaching environment so my needs are probably a subset of yours :)
Here's the "long term vision" of the teaching lab: http://campusrover.org.s3-website-us-west-2.amazonaws.com/content/pages/04_campus_rover.md/
and you can look around the site if you're curious about the course :)
thanks for the tip
wow outdoors ?
Well look - that's the long term vision, I know now that we will not get that done in even multiple semesters but we will learn and teach a lot as we strive for it :)
(see the caveats below the vision)
how do you do elevators?
so now elevators have a REST api???
just contact hte manufacturer in your building ;)
or you can see the elevator as just another kind of robot :)
so what's your guess: will your library work for me on ROS kinetic, Ubuntu 16.04 on a Pi or am I in for a nightmare of configuration problems?
Becuse of that very troublesome python/ROS integration it can be quite challenging, and understanding why is not simple...
But it s working for us here.
I m working to make it simple and package everything properly, hopefully in the next few weeks, if I dont get derailed doing something else...
In general I think the software level needed for doing robotics is much higher than what people usually... so the goal of robotic platform writer should be to make things simpler. but ROS sadly fails at that, making everything distributed and asynchronous makes everything so much more random and unpredictible.
If I understand correctly your summary for Robot API, you want the students write the web server that connects to ROS ?