Calico ROS

This page describes creating a ROS/Calico connection.

ROS

ROS is the Robot Operating System. Here we assume a standard ROS install.

RosCS

RosCS is a ROS package which creates a connection between Mono and ROS. It takes a C# file and dynamically builds all of the needed links into a set of dynamic link libraries (DLL).

First, we need a local copy of ROS. We are using the current version of ROS (called "fuerte"):

1. source /opt/ros/fuerte/setup.bash
2. mkdir ~/ros
3. rosws init ~/ros /opt/ros/fuerte
4. source ~/ros/setup.bash
5. roscd

Next, we need to install the package RosCS:

1. rosws set cn-roscs-ros-pkg --git https://code.google.com/p/cn-roscs-ros-pkg/
2. source ~/ros/setup.sh
3. rosws update cn-roscs-ros-pkg
4. [remove <rosdep name="mono"> from ~/ros/cn-roscs-ros-pkg/roscs/manifest.xml]
5. rosdep install roscs

Finally, we create a C# file and build the DLLs:

1. rosws set ~/ros/sandbox
2. source ~/ros/setup.sh
3. cd sandbox
4. roscreate-pkg ROS std_msgs rospy roscpp roscs
5. Create a C# file in ROS/src/hello.cs
6. Edit ROS/CMakeLists.txt

hello.cs:

using System;
using System.Threading;
using RosCS;

public class RosCsExample
{
    Node node;
    Publisher pub;

    public RosCsExample()
    {
	this.node = Node.MainNode;
	this.pub = new Publisher(this.node,"DummyTopic",RosCS.std_msgs.String.TypeId,1);
	this.node.Subscribe("DummyTopic",OnMessage,6);
        
    }

    public void OnMessage(RosCS.std_msgs.String msg) {
	Console.WriteLine("Got message: "+msg.Data);
    }

    public void Run() {
	int i = 0;
	while(RosSharp.Ok()) {
	    RosCS.std_msgs.String msg = new RosCS.std_msgs.String();
	    msg.Data ="Hello "+i;
	    this.pub.Send(msg);
	    i++;
	    Thread.Sleep(1000);
	}                       
    }               

    public static void Main(string[] args) {                        
	RosSharp.Init("NodeName",args);                 
	RosCsExample rce = new RosCsExample();
	rce.Run();
    }
}

Add to bottom of CMakeLists.txt:

rosbuild_include(roscs cncs)
rosbuild_gen_cs_msg()
rosbuild_gensrv()
CSHARP_ADD_TARGET_DEPENDENCY(hello Mono.C5) 
CSHARP_ADD_EXE(hello src/hello.cs)