ROS PoC

First PyCall Based ROS Integration (RobotOS.jl)

Pedro's example

create & build catkin workspace with package containing service spec, source devel/setup.sh - if you then run julia, you should be able to @rosimport the custom types

Put this in ~/catkin_ws/src/caesar_ros

• https://github.com/pvazteixeira/caesar_ros

Catkin and making

• From ~/catkin_ws/ run catkin_make
• source devel/setup.bash

Julia stuff

]add RobotOS PyCall

ENV["PYTHON"]="/usr/bin/python2.7"

# might need ]build PyCall

using RobotOS

@rosimport caesar_ros.srv: AddNode, AddFactor 

rostypegen()

using .caesar_ros.srv

References

• https://github.com/jdlangs/RobotOS.jl/blob/master/test/services.jl