https://github.com/ev3dev-lang-java/ros-client
A library to interact with ROS for Mindstorms Bricks
https://github.com/ev3dev-lang-java/ros-client
ev3dev java localization mapping navigation robotics robotics-libraries ros ros-node rosbridge rosbridge-suite rosjava slam
Last synced: 20 days ago
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A library to interact with ROS for Mindstorms Bricks
- Host: GitHub
- URL: https://github.com/ev3dev-lang-java/ros-client
- Owner: ev3dev-lang-java
- License: mit
- Created: 2017-07-03T15:57:18.000Z (over 8 years ago)
- Default Branch: develop
- Last Pushed: 2017-09-18T20:29:37.000Z (about 8 years ago)
- Last Synced: 2025-08-16T01:44:47.099Z (about 2 months ago)
- Topics: ev3dev, java, localization, mapping, navigation, robotics, robotics-libraries, ros, ros-node, rosbridge, rosbridge-suite, rosjava, slam
- Homepage:
- Size: 124 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# ROS Support for EV3Dev-Java
## Introduction
This library provide the support to integrate Sensors & Actuators on ROS.
ROS is Distributed system which provides:
* Topics
* Services
* Actions
The library only cover the first element, Topics.
## Topics
Using this library, the user could publish & subscribe information to ROS for the following topics:
### Topics Published
* battery (std_msgs.Float32)
* scan (sensor_msgs.LaserScan)
### Topics Subscribed
* cmd_vel (geometry_msgs/Twist)
## Applications
### Teleoperation
Using information provided by the topic `cmd_vel` it could be possible to teleoperate the robot
using ROS technologies.
### SLAM
Publishing information about the robot and using other ROS Components
like `Google Cartographer`, the robot could use map information provided by this component
and improve the local navigation capabilities
## Current status
At the moment, the library publish messages for the sensor RPLIDAR A2 on a ROS Instance.
To Start a ROS Session:
```
source /opt/ros/kinetic/setup.bash
cd catkin_ws
source install_isolated/setup.bash
roslaunch rosbridge_server rosbridge_websocket.launch
```