Does anyone have tips/examples getting a rosserial_windows publisher in a class?

asked 2019-01-22 18:54:05 -0600

BrettHemes gravatar image

I can get things working in main and/or using global functions but can't seem to get things working as a member of a class. I am not sure how to initialize the member variables for NodeHandle and Publisher and not totally who should be calling spin (i.e., the class via some callback or the parent function/class that owns the class with said publisher). This particular stack seems dangerous with respect to assumptions regarding ros APIs (vs their native counterparts).

Thanks, Brett

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There shouldn't be too much difference between all the variants you describe.

Can you perhaps show some MWE that doesn't work, and something that does?

gvdhoorn gravatar image gvdhoorn  ( 2019-01-23 02:34:33 -0600 )edit

This particular stack seems dangerous with respect to assumptions regarding ros APIs (vs their native counterparts).

I'm not sure what you mean by that: rosserial has always been different wrt control flow compared to roscpp.

gvdhoorn gravatar image gvdhoorn  ( 2019-01-23 02:35:14 -0600 )edit

I have never used it before... Regardless, some design choices seem lacking... lots of c strings and passing by pointers with seemingly shallow copies. Understandable I guess for some of the ports but Windows has much better options.

BrettHemes gravatar image BrettHemes  ( 2019-01-23 12:27:10 -0600 )edit

One problem I figured out was that I was getting segfaults as my variables I used to initialize everything went out of scope. Additionally the socket would close if I didn't spin frequently enough.

BrettHemes gravatar image BrettHemes  ( 2019-01-23 12:28:48 -0600 )edit

As I was initializing other hardware after ros::NodeHandle::initNode() I would get error messages on the next spin call if I took more than a second or two max... these are all hard things to catch and not obvious or documented...

BrettHemes gravatar image BrettHemes  ( 2019-01-23 12:29:38 -0600 )edit

rosserial_windows is an almost direct port of rosserial for the embedded and microcontroller platforms. That's where all the raw pointers, c strings and other "strangeness" comes from.

I guess people either accept it or use rosbridge_suite or the recent Windows 10 port.

gvdhoorn gravatar image gvdhoorn  ( 2019-01-23 14:44:41 -0600 )edit

Can you comment on any significnat performances between rosserial and rosbridge_suite?

BrettHemes gravatar image BrettHemes  ( 2019-01-23 16:29:47 -0600 )edit

Protocols are rather different, so I'm not sure I can.

rosserial is typically used with low-end hw, while rosbridge_suite is typically used for low-bandwidth integration of higher-level applications (ie: UIs, web-apps).

If you can say something about what sort of integration you're ..

gvdhoorn gravatar image gvdhoorn  ( 2019-01-24 03:02:12 -0600 )edit
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