ROS Ruby Client: rosruby

ROS is Robot Operating System developed by OSRF and open source communities.

This project supports ruby ROS client. You can program intelligent robots by ruby, very easily.

Homepage: http://otl.github.com/rosrubyGit: http://github.com/OTL/rosrubyAuthor: Takashi Ogura Copyright: 2012 License: new BSD License Latest Version: 0.4.3

Requirements

• ruby (1.8.7/1.9.3)
• ROS (hydro/groovy)

electric/fuerte

If you are using electric or fuerte, please use v0.2.1.

Install (binary)

sudo apt-get install ros-hydro-rosruby

then you have to source /opt/ros/hydro/setup.bash for ruby library path.

Install from source

Install ROS and ruby first. ROS document is http://ros.org/wiki/ROS/Installation . rosruby uses genrb for message generation. After install genrb, .rb message files are automatically compiled if there are message source package exists in your catkin_ws/src directory.

rosruby uses catkin. If you have not catkin_ws yet, please read this wiki.

$ cd~/catkin_ws/src
$ git clone https://github.com/OTL/genrb.git
$ git clone https://github.com/OTL/rosruby.git
$ cd~/catkin_ws
$ catkin_make
```Install from source (indigo/jade)----------------------------Try indigo-devel branch.```bash
$ cd~/catkin_ws/src/rosruby
$ git checkout indigo-devel
$ cd~/catkin_ws
$ catkin_make
```Message generation-----------------------You must generate ROS msg/srv files for rosruby if the msg/srv packages are not compiled from source.If you are using catkin package, it is easy.Please add below to your package CMakeLists.txt. find_package(rosruby) rosruby_generate_messages(message_pkg1 message_pkg2 ...)Or, you can generate it manually.Please use the msg/srv generation script (rosruby_genmsg.py) in order togenerage rosruby messages.For example, (please replace `catkin_ws` to your catkin workspace)```bash$ rosrun rosruby rosruby_genmsg.py geometry_msgs nav_msgs -d ~/catkin_ws/devel/lib/ruby/vendor_ruby/```If you want to generate msg/srv files from source (for example your project), it is automaticallygenerated by [genrb](http://github.com/OTL/genrb).Sample Source--------------You can get rosruby sample programs from [rosruby_tutorials](https://github.com/OTL/rosruby_common) package.## Subscriber```ruby#!/usr/bin/env rubyrequire 'ros'require 'std_msgs/String'node = ROS::Node.new('/rosruby_sample_subscriber')node.subscribe('/chatter', Std_msgs::String) do|msg| puts "message come! = \'#{msg.data}\'"endwhile node.ok? node.spin_once sleep(1)end```## Publisher```ruby#!/usr/bin/env rubyrequire 'ros'require 'std_msgs/String'node = ROS::Node.new('/rosruby_sample_publisher')publisher = node.advertise('/chatter', Std_msgs::String)msg = Std_msgs::String.newi = 0while node.ok? msg.data = "Hello, rosruby!: #{i}" publisher.publish(msg) sleep(1.0) i += 1end```Note----------------Ruby requires 'Start with Capital letter'for class or module names.So please use **S**td_msgs::String class instead of **s**td_msgs::String.rosruby message compiler automatically generates messages by the rule.Samples----------------------There are [rosruby_common](https://github.com/OTL/rosruby_common) that contains actionlib and tutorials.Do all tests-------------------------[![Build Status](https://secure.travis-ci.org/OTL/rosruby.png)](http://travis-ci.org/OTL/rosruby)Install some packages for tests.```bash$ sudo apt-get install rake gem$ sudo gem install yard redcarpet simplecov```run tests.```bash$ rake test```Documents--------------------------you can generate API documents using yard.Document generation needs yard and redcarpet.You can install these by gem command like this.```bash$ gem install yard redcarpet```Then try to generate documentds.```bash$ rake yard```You can access to the generated documents from [here](http://otl.github.com/rosruby/doc/).catkin and CMakeLists.txt-----------------------------rosruby's CMakeLists.txt defines some macros for your package that uses rosruby.you can use these if you add `find_package(rosruby)` to CMakeLists.txt.* rosruby_setup() : setup some macros and variables for rosruby* rosruby_generate_messages(message_pkg1 message_okg2 ...) : generates rosruby msg/srv files* rosruby_add_libraries(files or dirs) : install lib files for devel environment.