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Ivan
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thirdparty/ros/roscpp_core/doc/roscpp.rst
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thirdparty/ros/roscpp_core/doc/roscpp.rst
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.. roscpp core prototype documentation master file, created by
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sphinx-quickstart on Fri Nov 11 11:12:23 2011.
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You can adapt this file completely to your liking, but it should at least
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contain the root `toctree` directive.
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A roscpp_core prototype
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=======================
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The goal of this prototype is to discover ways to make it easy to use
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ROS message types in ways that are completely familar to the average
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Linux developer. The current prototype allows one to compile against
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and serialize the most common C++ ROS messages via only a 200k debian
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package. The build dependencies are cmake, boost, and a single path.
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Special thanks to Morten Kjaergaard who has been indispensible in
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getting this together.
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How to try it out
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-----------------
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Find an amd64 ubuntu machine with either ``lucid``, ``natty`` or
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``oneiric`` installed. You need root permissions.
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Download the appopriate ``.deb`` file from `here
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<http://people.willowgarage.com/straszheim/files>`_, e.g. on ``lucid``::
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wget http://people.willowgarage.com/straszheim/files/ros-fuerte-roscpp-core-prototype_lucid_amd64.deb
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Install it::
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dpkg -i ros-fuerte-roscpp-core-prototype_lucid_amd64.deb
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At this point you will see that ``/opt/ros/fuerte`` has had a bunch
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of stuff dropped in to it.
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To try it, create a directory src and pull down two
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example files::
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% cd /tmp
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% mkdir src
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% cd src
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% wget -nv http://people.willowgarage.com/straszheim/files/CMakeLists.txt
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2011-11-11 11:52:36 URL:http://people.willowgarage.com/straszheim/files/CMakeLists.txt [268/268] -> "CMakeLists.txt" [1]
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% wget -nv http://people.willowgarage.com/straszheim/files/main.cpp
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2011-11-11 11:52:42 URL:http://people.willowgarage.com/straszheim/files/main.cpp [581/581] -> "main.cpp" [1]
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the main.cpp does a very simple (de)serialization of a
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``sensor_msgs/PointCloud2``::
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#include<sensor_msgs/PointCloud2.h>
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namespace rs = ros::serialization;
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int main()
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{
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sensor_msgs::PointCloud2 pc_1;
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pc_1.width = 10;
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pc_1.height = 20;
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// todo set other stuff
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std::cout << "PointCloud2 message: " << std::endl << pc_1 << std::endl;
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uint8_t buf[1024];
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rs::OStream out(buf, sizeof(buf) );
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rs::serialize(out, pc_1);
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std::cout << "Message Was Serialized" << std::endl;
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sensor_msgs::PointCloud2 pc_2;
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rs::IStream in(buf, sizeof(buf) );
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rs::deserialize(in, pc_2);
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std::cout << "Its a message again: " << std::endl << pc_2 << std::endl;
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}
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and the ``CMakeLists.txt`` demonstrates the CMake incantations
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required to find and use the code::
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cmake_minimum_required(VERSION 2.8.3)
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find_package(ROS 12.04 COMPONENTS
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cpp_common rostime roscpp_traits roscpp_serialization sensor_msgs)
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include_directories(${ROS_INCLUDE_DIRS})
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add_executable(something main.cpp)
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target_link_libraries(something ${ROS_LIBRARIES})
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The important line is the ``find_package``. This usage is very
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standard CMake practice. Unfortunately it is not possible to pass
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``fuerte`` as the version, as cmake insists that the version be
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numeric.
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Indeed, four dependencies (cpp_common, rostime, roscpp_traits,
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roscpp_serialization) does seem like a lot, but each is very tiny;
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roscpp_traits has no library, roscpp_serialization contains only one
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function. We'll be cleaning this up. The important bit is that the
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user's workflow is decoupled from upstream.
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Now build in the usual way, with the caveat that ``CMAKE_PREFIX_PATH``
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must be specified for the ``find_package`` to work. We believe that
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we can remove this requirement in the future::
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% cmake . -DCMAKE_PREFIX_PATH=/opt/ros/fuerte
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-- The C compiler identification is GNU
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-- The CXX compiler identification is GNU
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-- Check for working C compiler: /usr/bin/gcc
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-- Check for working C compiler: /usr/bin/gcc -- works
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-- Detecting C compiler ABI info
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-- Detecting C compiler ABI info - done
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-- Check for working CXX compiler: /usr/bin/c++
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-- Check for working CXX compiler: /usr/bin/c++ -- works
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-- Detecting CXX compiler ABI info
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-- Detecting CXX compiler ABI info - done
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-- Configuring done
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-- Generating done
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-- Build files have been written to: /tmp/src
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Make and run as usual::
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% make
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Scanning dependencies of target something
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[100%] Building CXX object CMakeFiles/something.dir/main.cpp.o
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Linking CXX executable something
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[100%] Built target something
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% ./something
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PointCloud2 message:
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header:
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[ etc ]
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Contents of /opt/ros/fuerte
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---------------------------
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.. rubric:: bin/gen*.py
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these are message generator binaries. CMake macros provided in the
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package make it easy to generate your own message types.
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.. rubric:: lib/
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this is currently the smallest set of libraries that you need to
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serialize ROS messages. There are three. We will be making this
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smaller, and may be able to go header-only. Anyhow the dependencies
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are fairly light::
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% ldd /opt/ros/fuerte/lib/*.so
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/opt/ros/fuerte/lib/libcpp_common.so:
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linux-vdso.so.1 => (0x00007fff0adc3000)
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libstdc++.so.6 => /usr/lib/libstdc++.so.6 (0x00007fbdd1bad000)
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libm.so.6 => /lib/libm.so.6 (0x00007fbdd192a000)
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libgcc_s.so.1 => /lib/libgcc_s.so.1 (0x00007fbdd1712000)
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libc.so.6 => /lib/libc.so.6 (0x00007fbdd138f000)
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/lib64/ld-linux-x86-64.so.2 (0x00007fbdd20f5000)
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/opt/ros/fuerte/lib/libroscpp_serialization.so:
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linux-vdso.so.1 => (0x00007fff62ff6000)
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libstdc++.so.6 => /usr/lib/libstdc++.so.6 (0x00007f7c21ae9000)
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libm.so.6 => /lib/libm.so.6 (0x00007f7c21866000)
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libgcc_s.so.1 => /lib/libgcc_s.so.1 (0x00007f7c2164e000)
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libc.so.6 => /lib/libc.so.6 (0x00007f7c212cb000)
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/lib64/ld-linux-x86-64.so.2 (0x00007f7c2202a000)
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/opt/ros/fuerte/lib/librostime.so:
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linux-vdso.so.1 => (0x00007fffddb60000)
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libboost_date_time.so.1.40.0 => /usr/lib/libboost_date_time.so.1.40.0 (0x00007f0af8ffa000)
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libboost_thread.so.1.40.0 => /usr/lib/libboost_thread.so.1.40.0 (0x00007f0af8de4000)
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libstdc++.so.6 => /usr/lib/libstdc++.so.6 (0x00007f0af8acf000)
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libm.so.6 => /lib/libm.so.6 (0x00007f0af884c000)
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libgcc_s.so.1 => /lib/libgcc_s.so.1 (0x00007f0af8635000)
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libc.so.6 => /lib/libc.so.6 (0x00007f0af82b1000)
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librt.so.1 => /lib/librt.so.1 (0x00007f0af80a9000)
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libpthread.so.0 => /lib/libpthread.so.0 (0x00007f0af7e8c000)
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/lib64/ld-linux-x86-64.so.2 (0x00007f0af9481000)
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i.e. the only additional dependencies are ``boost::thread`` and
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``boost::date_time``. This is due to the fact that ros time classes
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are considered "primtives" by ros messages.
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.. rubric:: include/
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the ``ROS`` headers associated with the libraries above, and generated
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ROS message headers.
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.. rubric:: share/msg
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The original message definition (``.msg``) files.
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.. rubric:: share/cmake
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CMake infrastructure for straightforward finding/use of these headers.
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