Add ROS support to Dexter #97
Comments
JamesNewton
added
enhancement
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Sumo contributed the following node.js process, which uses the source code of DDE to implement communications with the robot. This allows DDE to manage the creation of the oplets and waiting for, and decoding, the status response. The repo includes all the files needed, copied from DDE, but the following file (and the config file in the same folder) is the heart of the application. Note that this implements the This also shows an interesting method for accessing sections of DDE without loading all of it. In this case, just the core job functionality is used. I see no reason why this can't be expanded to load the Math and Kin libraries into the node web server for Pose kin and trajectory spline calculations. We can get that working via DDE GUI on the PC, (assuming some way to receive the same message data) and then move that to the job engine at a minimum, for launch from the node server, or perhaps into the node server directly. |
Basic SetupIt appears the ROS Melodic can not be installed on Ubuntu 16.04. It requires 18 and up. Currently, Dexter can not be advanced beyond Xenial / 16.04 See #25 for more on how Dexter's OS is upgraded. The latest ROS version which can be applied to 16.04 is Lunar but that is EOL. Kinetic also supports 16.04 and is supported until April of 2021; about 9 months. It's our understanding that as long as the message doesn't change, different versions of ROS1 can be used. E.g. a ROS Melodic running on a PC should be able to work with ROS Kinetic on the Robot. In any case, actually installing and running ROS on the robot is probably of limited value. The FPGA is a stunningly powerful processor, but the dual core ARM 7 processors running the OS are not terribly powerful (about the same as a good tablet or cell phone) and so ROS's higher end processing probably isn't useful on the arm. Also, supporting Dexter with native ROS would require several steps:
Another possibility is: rosnodejsInstead, we can implement a lite weight ROS communications interface on the robot via the rosnodejs NPM package: There is no requirement listed on the NPM package for ROS to be installed, but on the ROS wiki page, it indicates that ROS must be installed and that only Kinetic is supported. It would be nice to NOT require ROS on the robot in order to be as lite as possible. Luckily, some nerd ask this very question last year:
It looks like you also need to have an environment variable defined for CMAKE_PREFIX_PATH. On the standard install of Kinetic, Wherever they point, there needs to be a set of folders under the share folder with message package.xml and msg folder with the .msg files. Something like you find from /opt/ros/kinetic/share/ in a ROS installation. e.g. the std_msgs folder. But watch out for depends which must also be included. e.g. the package.xml for std_msgs lists: so the message_generation and message_runtime folders must also be included. To support std_msgs and sensor_msgs, I ended up copying in
This allows messages with all the standard string, int32, etc... types from std_msgs, as well as JointState (from sensor_msgs), and Accel, Pose, Quaternion, and others from geometry_msgs. It does not support logging, which seems to have a massive list of dependencies. Not sure what to do about that. Having a light www.zip file that can be dropped into customers robots seems like a good idea. |
ConfigurationTo work on the ROS network, a few things must be explained to the robot. e.g. where the ROS "Master" (I will call it the "Server" instead) is, and (I think) where the Parameter Server is. Other environmental settings are listed here: ROS ServerTo set this, on the robot: Hostname issuesAs per the rosnodejs authors, getting messages to actually pass back and forth involves "editing your /etc/hosts file as well, because ROS is really picky about the way machines are named". On the PC, I had to add Also had to do the same to the /etc/hosts file on Dexter to get it to be able to receive messages. Not only adding the entry for Dexter, but also for the PC. Otherwise, when I sent a message from the PC to Dexter, I would get Something will need to be done about this. ROS_HOSTNAME=$IPOne way of avoiding the issue is to set the ROS_HOSTNAME environmental variable on both the PC and the robot to the local IP address. Then when a message is sent, it will give that "hostname" as the source and the other end gets the actual IP address for response instead. Many thanks to CFritz for this script, from
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At this point, the following test program is working: const rosnodejs = require('rosnodejs');
//rosnodejs.loadAllPackages(); NO! Not for onTheFly / Kinetic and up.
rosnodejs.initNode('Dexter', { onTheFly: true
//,rosMasterUri: `http://192.168.0.134:11311`
//not needed if set in environmental variable via www/ros/setserver.sh script
}).then(() => {
console.log("Initialized")
const nh = rosnodejs.nh;
const stdMsgs = rosnodejs.require('std_msgs');
const StringMsg = stdMsgs.msg.String;
const subChatter = nh.subscribe('/chatter', StringMsg, (msg) => {
console.log("recvd:"+JSON.stringify(msg)+".")
});
//rostopic pub -1 /chatter std_msgs/String -- "hello3"
const pubChatter = nh.advertise('/chatter', StringMsg);
pubChatter.on('connection', () => {
console.log("chat connected");
pubChatter.publish({data: "hi2\n"});
});
//pub.publish({data: "hi1\n"}); //this doesn't work
const SensorMsgs = rosnodejs.require('sensor_msgs');
console.log("joints:"+JSON.stringify(SensorMsgs.msg))
const subJointState = nh.subscribe('/joint_states', 'sensor_msgs/JointState', (msg) => {
console.log("recvd:"+JSON.stringify(msg)+".")
});
//rostopic pub /joint_states sensor_msgs/JointState '{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: ""}, name: ["J1", "J2", "J3"], position: [150.0, 0], velocity: [0.0, 0], effort: [0.0, 0]}' --once
const joints = {header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id:""}
,name: ["J1","J2","J3","J4","J5","J6","J7"]
,position: [0,0,0,0,0,0,0]
,velocity: [0,0,0,0,0,0,0]
,effort: [0,0,0,0,0,0,0]
};
const pubJointState = nh.advertise('/joint_states', 'sensor_msgs/JointState');
pubJointState.on('connection', () => {
console.log("joint connected");
pubJointState.publish(joints);
});
//rostopic pub /test geometry_msgs/Pose '{position: {"x":0.1,"y":0.2,"z":0.3}, orientation: {"w":1, "x":0, "y":0, "z":0}}' --once
const subPose = nh.subscribe('/pose', 'geometry_msgs/Pose', (msg) => {
console.log("recvd:"+JSON.stringify(msg)+".")
});
} //initnode callback
);Custom Messagehttps://github.com/RethinkRobotics-opensource/rosnodejs#generating-messages
const rosnodejs = require('rosnodejs');
await rosnodejs.initNode('my_node', { onTheFly: true })
const stdMsgs = rosnodejs.require('std_msgs');Hopefully that won't be an issue. I believe that using the node server, Dexter will /always/ be ready to receive messages from a ROS "host" (moving away from "master" as a term) and the advertised topics should be accessible immediately as well. If we need to use the job engine, then some means of starting that job will be required (init message) or the robot can be configured to start that ROS job on boot. (again, that would limit the robot to being /only/ ROS). Now to figure out the ROS message definition files... |
URDFSpec at: https://wiki.ros.org/urdf/XML most of that is very simple, but the physical properties are quite confusing. This video provided an excellent overview of URDF files, their capabilities and limitations: Testing a URDF file: You need the Display Model add on, but the parameter containing the contents of the urdf file must be set. By default, the parameter is called /robot_description. To load it from a file: To move joints around, you need the joint_state_publisher but that has been broken off into a separate "gui" which isn't installed by default, so: Here is the current Dexter.urdf file for 5 joints: <?xml version="1.0"?>
<robot name="Dexter" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:property name="cadpath" value=""/>
<!-- To view with CAD files, download the "LowRes*.stl" files from
https://drive.google.com/drive/folders/1JNs-h3x_sM75Rum5aerc5YCDE0ybJRp3
then edit the above line to point to the location of those files, e.g.:
<xacro:property name="cadpath" value="file:///home/jamesn/Documents/"/> -->
<xacro:property name="LINK1" value="0.245252"/>
<xacro:property name="LINK2" value="0.339092"/>
<xacro:property name="LINK3" value="0.307500"/>
<xacro:property name="LINK4" value="0.059500"/>
<xacro:property name="LINK5" value="0.082440"/>
<xacro:property name="L2Xoff" value="-0.056"/>
<xacro:property name="L2Zadd" value="0.15"/> //L2 motor counterbalance
<xacro:property name="L2Xsize" value="0.095"/> //Approx thick
<xacro:property name="L2Ysize" value="0.11"/> //Approx width
<xacro:property name="L3Xoff" value="-0.066"/>
<xacro:property name="L3Xsize" value="0.05"/> //Approx thick
<xacro:property name="L3Ysize" value="0.07"/> //Approx width
<xacro:property name="L4Xoff" value="-0.020"/>
<xacro:property name="L5Zoff" value="-0.021"/>
<material name="onyx">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<link name="base_link">
<visual>
<xacro:if value="${cadpath==''}">
<geometry>
<cylinder length="${LINK1-0.025}" radius="0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${(LINK1-0.025)/2}"/>
</xacro:if>
<xacro:unless value="${cadpath==''}">
<geometry>
<mesh filename="${cadpath}LowRes_DexterHDIKinematic_Link1_Bottom.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.5708 0 -1.5708" xyz="0 0 0"/>
</xacro:unless>
<material name="onyx"/>
</visual>
<collision>
<geometry>
<cylinder length="${LINK1-0.025}" radius="0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 ${(LINK1-0.025)/2}"/>
</collision>
</link>
<link name="link1">
<visual>
<xacro:if value="${cadpath==''}">
<geometry>
<box size="0.1 0.05 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.025 0 0"/>
</xacro:if>
<xacro:unless value="${cadpath==''}">
<geometry>
<mesh filename="${cadpath}LowRes_DexterHDIKinematic_Link1_Top.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.5708 0 -1.5708" xyz="0 0 -0.0375"/>
</xacro:unless>
<material name="onyx"/>
</visual>
<collision>
<geometry>
<box size="0.1 0.05 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.025 0 0"/>
</collision>
</link>
<link name="link2">
<visual>
<xacro:if value="${cadpath==''}">
<geometry>
<box size="${L2Xsize} ${L2Ysize} ${LINK2+L2Ysize+L2Zadd}"/> //add Ysize to account for joint curve
</geometry>
<origin rpy="0 0 0" xyz="${L2Xoff-L2Xsize/2} 0 ${(LINK2+L2Zadd+L2Ysize)/2-L2Zadd-L2Ysize/2}"/>
</xacro:if>
<xacro:unless value="${cadpath==''}">
<geometry>
<mesh filename="${cadpath}LowRes_DexterHDIKinematic_Link2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.57079 0 -1.5708" xyz="${L2Xoff} 0 0"/>
</xacro:unless>
<material name="onyx"/>
</visual>
<collision>
<geometry>
<box size="${L2Xsize} ${L2Ysize} ${LINK2+L2Ysize+L2Zadd}"/> //add Ysize to account for joint curve
</geometry>
<origin rpy="0 0 0" xyz="${L2Xoff-L2Xsize/2} 0 ${(LINK2+L2Zadd+L2Ysize)/2-L2Zadd-L2Ysize/2}"/>
</collision>
</link>
<link name="link3">
<visual>
<xacro:if value="${cadpath==''}">
<geometry>
<box size="${L3Xsize} ${L3Ysize} ${(LINK3+L3Ysize)}"/>
</geometry>
<origin rpy="0 0 0" xyz="${L3Xoff+L3Xsize/2} 0 ${(LINK3+L3Ysize)/2-L3Ysize/2}"/>
</xacro:if>
<xacro:unless value="${cadpath==''}">
<geometry>
<mesh filename="${cadpath}LowRes_DexterHDIKinematic_Link3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.57079 0 -1.5708" xyz="${L3Xoff} 0 0"/>
</xacro:unless>
<material name="onyx"/>
</visual>
<collision>
<geometry>
<box size="${L3Xsize} ${L3Ysize} ${(LINK3+L3Ysize)}"/>
</geometry>
<origin rpy="0 0 0" xyz="${L3Xoff+L3Xsize/2} 0 ${(LINK3+L3Ysize)/2-L3Ysize/2}"/>
</collision>
</link>
<link name="link4">
<visual>
<xacro:if value="${cadpath==''}">
<geometry>
<cylinder length="0.05" radius="0.027"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.015"/>
</xacro:if>
<xacro:unless value="${cadpath==''}">
<geometry>
<mesh filename="${cadpath}LowRes_DexterHDIKinematic_Link4.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.57079 0 -1.5708" xyz="${L4Xoff} 0 0"/>
</xacro:unless>
<material name="onyx"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.027"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.015"/>
</collision>
</link>
<link name="link5">
<visual>
<xacro:if value="${cadpath==''}">
<geometry>
<cylinder length="${LINK5}" radius="0.027"/>
</geometry>
<origin rpy="1.57079 0 0" xyz="0 -0.013 0"/>
</xacro:if>
<xacro:unless value="${cadpath==''}">
<geometry>
<mesh filename="${cadpath}LowRes_DexterHDIKinematic_Link5.stl" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.57079 0 -1.5708" xyz="0 0 ${L5Zoff}"/>
</xacro:unless>
<material name="onyx"/>
</visual>
<collision>
<geometry>
<cylinder length="${LINK5}" radius="0.027"/>
</geometry>
<origin rpy="1.57079 0 0" xyz="0 -0.013 0"/>
</collision>
</link>
<!--S, LinkLengths, 82551, 50801, 330201, 320676, 228600 -->
<joint name="J1" type="revolute">
<parent link="base_link"/>
<child link="link1"/>
<axis xyz="0 0 1"/>
<origin xyz="0 0 0.228600"/><!-- z=L1 -->
<dynamics damping="0.0" friction="0.0"/>
<limit effort="30" velocity="1.0" lower="-3.316" upper="3.316" /> <!-- bounds in radians -->
</joint>
<joint name="J2" type="revolute">
<parent link="link1"/>
<child link="link2"/>
<axis xyz="1 0 0"/>
<origin xyz="0 0 0"/><!-- y=L1cl to back of j2 drive Z=0 because already at L1-->
<limit effort="30" velocity="1.0" lower="-1.745" upper="1.745" /> <!-- bounds in radians -->
</joint>
<joint name="J3" type="revolute">
<parent link="link2"/>
<child link="link3"/>
<axis xyz="1 0 0"/>
<origin xyz="0 0 ${LINK2}"/><!-- y=half way from back of j3 drive to L1cl z=L2 -->
<limit effort="30" velocity="1.0" lower="-2.8797" upper="2.8797" /> <!-- bounds in radians -->
</joint>
<joint name="J4" type="revolute">
<parent link="link3"/>
<child link="link4"/>
<axis xyz="1 0 0"/>
<origin xyz="0 0 ${LINK3}"/><!-- y=rest of the way from back of j3 drive to L1cl z=L3 -->
<limit effort="30" velocity="1.0" lower="-2.1816" upper="2.1816" /> <!-- bounds in radians -->
</joint>
<joint name="J5" type="revolute">
<parent link="link4"/>
<child link="link5"/>
<axis xyz="0 0 1"/>
<origin xyz="0 0 ${LINK4}"/><!-- z=L4 -->
<limit effort="30" velocity="1.0" lower="-3.3161" upper="3.3161" /> <!-- bounds in radians -->
</joint>
</robot>
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Serviceshttp://wiki.ros.org/ROS/Tutorials/UnderstandingServicesParams Perhaps an /init or /reset service should be provided by the robot to start the ROS job engine and get it ready for communications? This would avoid any issues with slow response on the first ROS message send to the robot as it starts the job engine. |
ROS.ddeA job engine job to receive and process ROS messages in JSON format has been written by @JamesWigglesworth //Written by James Wigglesworth
//Started: 8_18_20
//Modified: 8_18_20
Dexter.LINK1 = 0.2352
Dexter.LINK2 = 0.339092
Dexter.LINK3 = 0.3075
Dexter.LINK4 = 0.0595
Dexter.LINK5 = 0.08244
new Job({
name: "ROS",
inter_do_item_dur: 0,
show_instructions: false,
keep_history: false,
user_data: {
ws_message: false,
xyz: [0, 0.5, 0.4],
stiffnesses: [12.895, 12.895, 1.2568, 0.1503, 0.1503],
StepAngles: "[0, 0, 0, 0, 0]",
step_angles: [0, 0, 0, 0, 0],
position_prev: [0, 0, 0, 0, 0, 0, 0],
time_prev: Date.now() / 1000 / _ns
},
do_list: [
function(){
out("ROS.dde has been started")
},
Robot.loop(true, function(){
let CMD = []
if(this.user_data.ws_message){
let message
try{
message = JSON.parse(this.user_data.ws_message)
}catch(err){
out("ws_message is not JSON parsable:")
console.log(message)
this.user_data.ws_message = false
return
}
if(typeof (message) === "object"){
CMD.push(ROS_to_DDE(message))
}
this.user_data.ws_message = false
}else{
CMD.push(Dexter.get_robot_status())
CMD.push(function(){
let StepAngles = Vector.multiply(JSON.parse(this.user_data.StepAngles), _arcsec)
this.user_data.step_angles = StepAngles
})
}
send_ROS_message(DDE_to_ROS(this))
return CMD
})
]
})
function send_ROS_message(string){
//out(string) //TODO: slow this down.
}
function ROS_to_DDE(message){
let position = message.position
let velocity = message.velocity
let effort = message.effort
let pose = message.pose
let CMD = []
if(position && !velocity && !effort){
CMD.push(Dexter.move_all_joints(Vector.multiply(position, _rad)))
}else if(!position && velocity && !effort){
//i_moves go here
}else if(!position && !velocity && effort){
//i_move with torque feedback goes here
}else if(pose){
let quaternion = [1, 0, 0, 0]
let xyz = [0, 0.4, 0.4]
let DCM = Vector.quaternion_to_DCM(quaternion)
let dir = Vector.multiply(-1, Vector.pull(DCM, [0, 2], 2))
out("dir: " + dir)
CMD.push(Dexter.pid_move_to(xyz, dir))
}
return CMD
}
function DDE_to_ROS(job){
let rs = job.robot.robot_status
let position = [
rs[Dexter.J1_MEASURED_ANGLE],
rs[Dexter.J2_MEASURED_ANGLE],
rs[Dexter.J3_MEASURED_ANGLE],
rs[Dexter.J4_MEASURED_ANGLE],
rs[Dexter.J5_MEASURED_ANGLE],
rs[Dexter.J6_MEASURED_ANGLE],
rs[Dexter.J7_MEASURED_ANGLE]
]
let position_rad = Vector.multiply(1 / _rad, position)
let time = rs[Dexter.START_TIME] + rs[Dexter.STOP_TIME] / 1000000
//out(time, "blue", true)
let time_nano_secs = time / _ns
//out(time_nano_secs, "blue", true)
let position_prev = job.user_data.position_prev
let time_prev = job.user_data.time_prev
let velocity = Vector.divide(Vector.subtract(position_rad, position_prev), time_nano_secs - time_prev)
let torque = [...compute_torque(position, job.user_data.step_angles, job.user_data.stiffnesses), rs[Dexter.J6_MEASURED_TORQUE], rs[Dexter.J7_MEASURED_TORQUE]]
let message = {
header: {
seq: 0,
stamp: {
secs: time,
nsecs: time_nano_secs
},
frame_id: ""
},
name: ["J1", "J2", "J3", "J4", "J5", "J6", "J7"],
position: position_rad,
velocity: velocity,
effort: torque
}
job.user_data.position_prev = position_rad
job.user_data.time_prev = time_nano_secs
return JSON.stringify(message)
}
function compute_torque(measured_angles, step_angles, stiffnesses, hysterhesis_low = [0, 0, 0, 0, 0], hysterhesis_high = [0, 0, 0, 0, 0]){
let torques = [0, 0, 0, 0, 0]
let displacement
for(let i = 0; i < 5; i++){
displacement = measured_angles[i] - step_angles[i]
torques[i] = 0
if(displacement < hysterhesis_low[i]){
torques[i] = (measured_angles[i] - step_angles[i] - hysterhesis_low[i]) * stiffnesses[i]
}else if(displacement > hysterhesis_high[i]){
torques[i] = (measured_angles[i] - step_angles[i] - hysterhesis_high[i]) * stiffnesses[i]
}
}
return torques
}
For now, it can be tested from the debug console in chrome after starting the job via the browser job engine interface and then executing: |
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(snip quote of above comment) there are few commenting mistakes. |
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For those looking for moveit-config package of the dexter, here is the package. With parameters set in launch file, gazebo simulation is possible. https://github.com/ramamoorthyluxman/dexter_ros/ |
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I am trying to develop a python based ros driver node to control the robot arm. I am able to move the robot arm to a given joints values using the 'a' oplet. However, it is not clear to me what oplet should I use to send a bunch of waypoints and ask the robot to follow the trajectory with an overall trapezoidal velocity profile. Can you help with this please ? |
I need this too! |
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@ramamoorthyluxman @sflc2 Please raise a separate issue for separate (even if related) issues. |
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Does "i_move" refer to something that exists currently?
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I am unsure of the context of that code? |
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Oh sorry. Its a snippet from ROS.dde in your comment written above #97 (comment) |
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I'm told that code was not completed. |
Desired ROS messages:
Units:
https://ros.org/reps/rep-0103.html
Bidirectional
http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html
From host to Robot:
http://docs.ros.org/melodic/api/geometry_msgs/html/msg/Pose.html
Processing the quaternion requires pretty extensive calculation, which is currently only supported in DDE. We might be able to extract that, but it's not "lightweight". So this message requires that we stick with DDE via the Job Engine on Dexter.
http://wiki.ros.org/joint_trajectory_controller (not sure if this is part of the "action" system which we perhaps don't want?)
http://docs.ros.org/melodic/api/trajectory_msgs/html/msg/JointTrajectory.html
and then a set of way-points:
http://docs.ros.org/melodic/api/trajectory_msgs/html/msg/JointTrajectoryPoint.html
This is unusual because we would need to change velocity and acceleration to meet the time stamps for each position. Again, this seems pretty complex, and something that needs doing in DDE / Job Engine. Apparently you don't send all the items. You might accept the set of (Position, and time) and of (Position, Velocity, and Accelerations) and whatever is missing is up to the robot; e.g. the time stamp can be ignored.
From the robot back to host:
http://wiki.ros.org/xacro format to convey URDF (robot desciption data) data via ROS PARAM?
The point here is to allow the URDF to be updated with the actual lengths from the robot.
ROS publisher, publish joint space and measured forces. We get to make this up? Or is there a standard?
One topic for
Notes
List of sensor messages:
http://wiki.ros.org/sensor_msgs?distro=kinetic
As far as I can find, there is no version of Pose which includes this time constraint, and no way to move all joints without the time constraint. How strange! I had really expected that ROS would be doing lower level control, and have a more flexible set of messages. I probably just don't understand it at this point. Edit: Yep, I found the Joint State messages:
http://docs.ros.org/api/sensor_msgs/html/msg/JointState.html
We could just start the ROS Job Engine job every time the robot starts like we do with PHUI, but this would mean the robot would then be a ROS only configured robot, rather than every robot being ready to do ROS if it gets a ROS message.
To ensure that every Dexter understands ROS if contacted on the main port (ROS "master" port is 11311), we should use the node server just like we do for ModBus or Scratch or the web Job Engine and chat interface. Then, once we get a ROS request, we can start a job and communicate with it via the child process stdin / stdout as we already do for the browser Job Engine interface. Jobs take a second to start, so we will need to receive a "get ready" message which starts the ROS job, and then pass on ROS messages to that job. TODO: This desperately needs to be documented. @cfry
ROS "action" is different more complex and harder. "move to position by this time" Robot sends back status as it moves, then sends "ok, I'm there". This support is not desired at this time.
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