ROS¶
Installation¶
Please follow the instructions in the installation procedure.
Generation of ROS-node and topics¶
The ROS middleware creates one ROS-node called “morse” and one ROS topic for
every sensor and every actuator. The names of the ROS-topics are generated in
the following way: <name_of_parent_blender_object>/<name_of_blender_object>
.
For instance, if you have an odometry sensor called “odometry” on a robot
called “atrv”, the ROS Odometry messages will be published on /atrv/odometry
.
Configuration specificities¶
When configuring a component to export its data through ROS, you can pass
the option topic
to define the name of the topic exported by the
component.
foo.add_stream('ros', topic = '/robot/myTopic')
Similarly, you can set a custom frame_id
and child_frame_id
:
foo.add_stream('ros', frame_id = '/world', child_frame_id = '/footprint')