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chrimo
Joined: 10 Sep 2010
Posts: 5
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 Posted: Fri Sep 10, 2010 7:39 am Post subject: ROS Robot Operating System |
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Hello community,
is there anybody who uses ROS with OpenServo or OSIF ?
Any informations available ?
Thanks in advance
Chrimo |
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ginge
Site Admin
Joined: 14 Jan 2006
Posts: 1029
Location: Manchester, UK
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| Posted: Sat Sep 11, 2010 12:16 pm Post subject: |
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Hi chrimo,
I have just looked at ROS, and it doesn't look like it would be very difficult to integrate OpenServo.
If there is sufficient interest I will do the port, otherwise I am concentrating on the next version of OpenServo, V4.
I will give as much guidance as needed to anyone wanting to implement this.
Cheers
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chrimo
Joined: 10 Sep 2010
Posts: 5
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| Posted: Sun Sep 12, 2010 7:45 pm Post subject: |
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Hi Ginge,
it will be a fantastic extension for ROS and OpenServo...
Integration of a generic OSIF would be a good starting point for a more powerfull robot developement in the future.
I think, before doing any coding it must be defined which commands must be implemented. Are basic OSIF related commands (open, read, write,close) enough or should higher level OpenServo-commnds be implemented ?
Currently I'm experimenting with ROS and for me it is enough to use OSIF...
Suggestions welcome 
Thanks for your fast response and support
Cheers,
Chrimo |
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ginge
Site Admin
Joined: 14 Jan 2006
Posts: 1029
Location: Manchester, UK
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| Posted: Tue Sep 14, 2010 6:46 pm Post subject: |
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| chrimo wrote: |
I think, before doing any coding it must be defined which commands must be implemented. Are basic OSIF related commands (open, read, write,close) enough or should higher level OpenServo-commnds be implemented ?
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We already have libraries to abstract the OpenServo functions to simple move(), speed() accessors, so it wouldn't be too hard to integrate one of those with ROS. These libraries abstract the actual hardware so it would be a much more flexible offering.
I guess I should read up some more before I speculate 
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chrimo
Joined: 10 Sep 2010
Posts: 5
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| Posted: Tue Sep 14, 2010 9:35 pm Post subject: |
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Hi Ginge,
sounds great !!!
I try some more basic lowlevel tests before I can say more 
Basic general functions are neccessary because I use plain OSIF and a lot of generic sensors...
I'll report from my experience
RS+OpenServo seems to be a very powerful combination !!!
Cheers
Chrimo |
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chrimo
Joined: 10 Sep 2010
Posts: 5
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| Posted: Sun Oct 17, 2010 9:03 am Post subject: |
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Hi Ginge,
ROS has native bindings for python and many nodes are using it...
Do you know, if there is a python driver or lib for OSIF available ?
What do you think ? Is it usefull ?
Or should I use plain C for an OSIF-ROS-NODE ?
You wrote about an abstraction library for higher level commands...
Is this available for review/testing ?
I plan to do the follwing:
rososif_base: support for generic I2C basic commands
rososif_user: support for higher level commands
rososif_listener: sends all osif variables as topic /osif/device_id/msg
rososif_service: allows to write to parameters/values to osif devices
Ideas or suggestions are welcome
Greetings from Hamburg
Cheers,
Christian |
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