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Hi. My name is Ruben Smits.
I come from the mechanical department at the University of Leuven.
And I've been working at Willow Garage for a month now.
What I tried to do during this time was
to integrate the Orocos project with the ROS project.
So what we see here on the robot is
actually an RTT application controlling the robotic arm.
So, it's just joint space set points
which are controlled by RTT.
For every Orocos component,
we automatically create a ROS node,
which gets all the data
from the RTT component into ROS,
without killing the realtime behavior.
What we see here is rviz,
which is a complete ROS application,
and all the data from the Orocos application
which is controlling the robot.
It still sends all the data to the ROS application
without killing the realtime behavior.
Another ROS application is rxplot,
so what you see here are the joint positions,
which are coming out of the Orocos RTT application,
going to the ROS application,
without killing the realtime behavior
of your Orocos RTT application.
So, as a result of this project,
we have a successful integration
of Orocos RTT applications and ROS applications,
without even having to recompile
anything for your Orocos application.
So, now all Orocos RTT users can use
all the cool ROS applications
next to the Orocos RTT applications,
which is really neat.
Willow Garage