This repository lets your ROS software communicate with IOP services. You can find an overview of all supported services at doc/other_packages.md.

IOP package	Kinetic / Melodic / Noetic	Foxy / Galactic
iop_core
iop_msgs
iop_platform
iop_sensing
iop_sensing_clients
iop_gui
iop_jaus_manipulator
iop_jaus_manipulator_clients
iop_jaus_mobility
iop_jaus_mobility_clients
iop_jaus_sensing
iop_jaus_sensing_clients
iop_jaus_ugv
iop_jaus_ugv_clients
iop_examples
iop_node_manager
iop_wireshark_plugin

Installation of the ROS/IOP Bridge

Install dependencies for JAUS Toolset

ROS/IOP Bridge uses JAUS Toolset (JTS) to generate basic C++ code from JSIDL definitions of JAUS. You find the JAUS Toolset desciption here. Currently only a part of sources of JTS is used. This part will build while you build the ROS/IOP Bridge sources. For successful build JTS needs follow external software:

Install OpenJKD:

sudo apt-get install default-jdk -y

If you prefer Oracle Java, see here

Set up your ROS environment

Make sure, that your catin workspace is set up correctly:

• Using catkin
• Using catkin_tools

For easier download of bridge packages install wstool:

sudo apt-get install python-wstool -y

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Download the ROS/IOP-Bridge packages

The sourcecode of the ROS/IOP-Bridge is splitted into different Git repositories. Depending on your configuration you need a different set of packages. An overview of existing packages you find here

For download the ROS/IOP-Bridge sources we use the wstool:

If you do not already have an .rosinstall go into you ROS workspace and call
cd catkin_ws/; wstool init src/iop

Merge the iop.rosinstall file and fetch code.

wstool merge -t src/iop https://raw.githubusercontent.com/fkie/iop_core/master/iop.rosinstall
wstool update -t src/iop

Install dependencies

Go to the root folder of your ROS workspace and type:

rosdep install --from-paths src --ignore-src

Build the sources

Go to the root folder of your ROS workspace and type:

catkin build

If some errors occur while JTS build regarding missing pthread and timer the libpthread and librt have to be included. This can be done by replacing LIBS=[] by LIBS=['-lpthread', '-lrt'] in jaustoolset/GUI/templates/Common/SConstruct

Additional Information

For convenient usage of ROS environment use the node_manager of multimaster_fkie. You can install it from https://github.com/fkie/multimaster_fkie using

wstool merge -t src/iop https://raw.githubusercontent.com/fkie/multimaster_fkie/master/fkie_multimaster.rosinstall
wstool update -t src/iop
rosdep install --from-paths src --ignore-src

On each host you run IOP components you need to start a Node Manager. There are two alternatives:

1. JTSNodeManager

This Node Manager is part of JausToolSet and included in iop_core. You can start this Node Manager with following command:

bash rosrun jaustoolset jaus_node_manager.sh start

To exit the script press CTRL+C or type bash rosrun jaustoolset jaus_node_manager.sh stop in a new terminal window. See example below how to integrate the JTS-nodeManagerinto launch-file.

2. IOPNodeManager

This Node Manager is written in Python and is an alternative development to JTSNodeManager. You need to install it as separate package from https://github.com/fkie/iop_node_manager using

wstool merge -t src/iop https://raw.githubusercontent.com/fkie/iop_node_manager/master/iop_node_manager.rosinstall
wstool update -t src/iop
rosdep install --from-paths src --ignore-src
catkin build

Example

For a simple example with turtlesim see fkie_iop_cfg_sim_turtle package.

You find other examples in iop_examples repository.

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How it works - an overview

IOP packages - an overview

IOP core packages

Builder-package

How to start with own configuration

How to create own plugin