RT Conference Proceedings
T1 Towards an advanced ROS package generator
A1 Remazeilles, Anthony
A1 Azpiazu, Jon
A2 Gusikhin, Oleg
A2 Madani, Kurosh
A2 Zaytoon, Janan
AB This paper describes a tool for generating ROS packages and nodes. Compared to the relatively basic traditional package creation method, this tool can generate a whole node structure, including its life-cycle and the exposed interface to other ROS nodes. Following a separation of concerns, the developer only defines the interaction means in a XML file, and the tool provides the whole skeleton of the nodes, including the interface creation and management. This way, the developer can focus on his real added value, the implementation of the node logic. Compared to advanced node management frameworks proposed in literature, the tool proposed does not require the developer to understand and agree on complex high-level architecture models. The developer only has to select a template model, and to provide the desired interface to get the code generated. The package generation is made possible thanks to package templates, and we provide with the generator tool two templates for creating nodes either in C++ or Python. The user has also the possibility to design his own template, so that he can develop the one that best fits his needs and best practices. The package generator code is accessible on public repository hosting facilities.
PB SciTePress
SN 9789897583803
YR 2019
FD 2019
LK https://hdl.handle.net/11556/1969
UL https://hdl.handle.net/11556/1969
LA eng
NO Remazeilles , A & Azpiazu , J 2019 , Towards an advanced ROS package generator . in O Gusikhin , K Madani & J Zaytoon (eds) , ICINCO 2019 - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics . ICINCO 2019 - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics , vol. 2 , SciTePress , pp. 243-250 , 16th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2019 , Prague , Czech Republic , 29/07/19 . https://doi.org/10.5220/0007834002430250
NO conference
NO Publisher Copyright: Copyright © 2019 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved
NO Supported by the Elkartek MALGUROB and the ROSIN project under the European Union’s Horizon 2020 research & innovation programme, grant agreement No. 732287. The authors would like to thank Dr. Andrzej Wasowski for the helpful suggestions regarding the structure and contents of this article.
DS TECNALIA Publications
RD 29 jul 2024