A shared library to simplify the access to the ROS environment. Allows your algorithm in C++ and Julia to write and read from topics and nodes of ROS without importing ROS libraries and their dependencies.
NOTE: The installation procedures are not necessary if you are just a user of the library, go directly to the usage section ahead.
These library source files are part of a catkin package, and they have to be extracted into the src folder of your catkin workspace:
cd catkin_ws/src
git clone https://github.com/sidneyrdc/ros_interface.git
Once it is in your workspace, you can compile the library using the catkin environment:
roscd
catkin_make
The output is the shared library libros_interface.so that can be found in the folder:
catkin_ws/src/ros_interface/lib/
Once you have the library sources compiled, you just need the files libros_interface.so
and ros_interface.hpp to access the ROS interface.
To use the library in your C/C++ code, put those files in your project's lib and
include folders, respectively, then add the following line to your code:
#include <ros_interface.hpp>
Before compiling your project put the following parameter as a compiler option:
-lros_interface
NOTE: Examples of use in C/C++ and Julia can be found in the folder examples
of the library source code.