This library provides an RTT transport plugin for sending and receiving RST-RT types to/from and RSB bus.
The code is heavily based on the rtt_roscomm plugin in the rtt_ros_integration repository .
| RSB Type | RTT Type |
|---|---|
rst.geometry.Translation |
rstrt::geometry::Translation |
rst.geometry.Rotation |
rstrt::geometry::Rotation |
rst.geometry.Pose |
rstrt::geometry::Pose |
rst.kinematics.JointAngles |
rstrt::kinematics::JointAngles |
rst.kinematics.JointVelocities |
rstrt::kinematics::JointVelocities |
rst.kinematics.JointAccelerations |
rstrt::kinematics::JointAccelerations |
rst.kinematics.JointJerks |
rstrt::kinematics::JointJerks |
rst.kinematics.LinearVelocities |
rstrt::kinematics::LinearVelocities |
rst.kinematics.AngularVelocities |
rstrt::geometry::AngularVelocity |
rst.kinematics.Twist |
rstrt::kinematics::Twist |
rst.dynamics.JointTorques |
rstrt::dynamics::JointTorques |
rst.dynamics.JointImpedance |
rstrt::dynamics::JointImpedance |
rst.robot.JointState |
rstrt::robot::JointState |
rst.robot.Weights |
rstrt::robot::Weights |
rst.robot.ForceApplication |
rstrt::robot::ForceApplication |
bool |
bool |
int64 |
int |
uint64 |
uint |
double |
double |
float |
float |
utf-8-string |
string |
This plugin provides a global RTT service for creating connection policies that establish RSB socket connections to specified scopes.
This plugin provides (not yet) real-time-safe socket connections between RSB scopes and Orocos RTT data ports.
# Imports
import("rst-rt_typekit")
import("rtt_rsbcomm")
# Streaming
stream("my_component.my_output", rsb.transport.socket.scope("/my/output"))
stream("my_component.my_input", rsb.transport.socket.scope("/my/input"))You can also set up these connections in C++ code:
#include <rtt_rsbcomm/scope/ScopeService.hpp>
// ...
// Add the port and stream it to an RSB scope
this->ports()->addPort("my_port", my_port_);
my_port_.createStream(rtt_rsbcomm::scope::scope("/my/scope"));
// ...