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Ros.txt Guest on 4th May 2021 06:55:39 PM
  1. ROS
  2. ===
  3.  
  4. Installation
  5. ------------
  6.  
  7. Please follow the instructions in the :doc:`installation procedure  <../installation/mw/ros>`.
  8.  
  9. Generation of ROS-node and topics
  10. ----------------------------------
  11.  
  12. The ROS middleware creates one ROS-node called "morse" and on ROS topic for
  13. every sensor and every actuator. The names of the ROS-topics are generated in
  14. the following way: ``<name_of_parent_blender_object>/<name_of_blender_object>``.
  15.  
  16. For instance, if you have an odometry sensor called "odometry" on a robot
  17. called "atrv", the ROS Odometry messages will be published on ``/atrv/odometry``.
  18.  
  19. .. _ros_ds_configuration:
  20.  
  21. Configuration specificities
  22. ---------------------------
  23.  
  24. When configuring a component to export its data through ROS, you can pass
  25. the option ``topic`` to define the name of the topic exported by the
  26. component.
  27.  
  28.  
  29. .. code-block :: python
  30.  
  31.     foo.add_stream('ros', topic = '/robot/myTopic')
  32.  
  33.  
  34. The same way, you can set a custom ``frame_id`` and ``child_frame_id``:
  35.  
  36. .. code-block :: python
  37.  
  38.     foo.add_stream('ros', frame_id = '/world', child_frame_id = '/footprint')

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