Using the framework outside ROS

[aledalgrande]

Is it possible and if yes, could you give guidance on what APIs I need to use?

[simonlynen]

@aledalgrande yes it is possible to use the framework without ROS. The core library is independent of ROS so when you implement your "update" module you will need to derive from SensorManager and not from SensorManagerROS. link. In the end however you will need to implement the callbacks yourself that push the measurements inside the estimator.

[aledalgrande]

Hey Simon,

when you say that the core library is independent, which part do you mean?
I tried msf_core but it has a lot of includes from ros.

Thanks
On Mon, 17 Nov 2014 at 00:01 Simon Lynen notifications@github.com wrote:

@aledalgrande https://github.com/aledalgrande yes it is possible to use
the framework without ROS. The core library is independent of ROS so when
you implement your "update" module
https://github.com/ethz-asl/ethzasl_msf/blob/master/msf_updates/src/position_msf/position_sensormanager.h#L38
you will need to derive from SensorManager and not from SensorManagerROS.
link
https://github.com/ethz-asl/ethzasl_msf/blob/master/msf_core/include/msf_core/msf_sensormanager.h#L41.
In the end however you will need to implement the callbacks yourself that
push the measurements inside the estimator.

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[simonlynen]

@aledalgrande For every ros-dependent part there is a ros free version such as the imu-handler: https://github.com/ethz-asl/ethzasl_msf/blob/master/msf_core/include/msf_core/msf_IMUHandler.h

You will however need to change the cmake-files to not build these files. There might also be some includes that you will need to manually remove. I never built this in a ROS free environment, but the functionality should be all possible without ROS.

[aledalgrande]

@simonlynen, just to confirm, anything named _ROS should be removed, and is similaritytransform also only needed by ROS?

[simonlynen]

@aledalgrande yes, you will need to experiment here a little. (similaritytransform is probably not needed by the things you want to build)

[aledalgrande]

OK thanks, will try to make the transition today.

[aledalgrande]

@simonlynen what about msf_state, does it have use outside ROS? It's used in msf_core.h.

[simonlynen]

Yes the state-definition is at the core of the estimator.

[simonlynen]

What is your current approach to making this run without ROS?

[aledalgrande]

I want to make it run in an Objective-C++ app, so I included the core module (for now) in the project, and its dependencies, apart from ROS. It seems there are some core components that interface directly to ROS by using "messages", but not really familiar with the architecture, so I am wondering if I can exclude or convert those parts.

[aledalgrande]

I changed my approach, starting from subclassing the SensorManager (looking at the ROS example), so I will understand more and at the same time see which dependencies are needed.

[zanazakaryaie]

Hello guys

Is there a ROS free version out there? I'm gonna implement it on raspberry pi.

Thanks in advance