https://github.com/ros-industrial-attic/cros

A single thread pure C implementation of the ROS framework
https://github.com/ros-industrial-attic/cros

Last synced: about 1 month ago
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A single thread pure C implementation of the ROS framework

• Host: GitHub
• URL: https://github.com/ros-industrial-attic/cros
• Owner: ros-industrial-attic
• License: bsd-3-clause
• Created: 2015-04-27T13:24:29.000Z (over 9 years ago)
• Default Branch: master
• Last Pushed: 2023-02-06T16:52:51.000Z (almost 2 years ago)
• Last Synced: 2024-11-06T16:40:24.250Z (about 1 month ago)
• Language: C
• Homepage:
• Size: 1.28 MB
• Stars: 47
• Watchers: 13
• Forks: 27
• Open Issues: 9
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG
  • License: LICENSE

Awesome Lists containing this project

• awesome-robotic-tooling - cros - A single thread pure C implementation of the ROS framework. (Development Environment / Build and Deploy)

README

        
![cROS logo](resources/cROS_logo.jpg)

# cROS 1.0-rc2

cROS is a library written in stadard C language that provides a single-thread

implementation of the basic features required to implement a ROS

(Robot Operating System) node.

This ROS node supports the concurrent operation as several:

 * Topic subscribers

 * Topic Publishers

 * Service providers (servers)

 * Service callers (clients)

 * Parameter subscribers

cROS can run on Linux, OS X and Windows.

### Requirements

On a Linux-based distribution it can be compiled with:

 * The GCC compiler

 * CMake 2.6 or later

 * (Optional) Doxygen

On Windows it can be compiled with Microsoft Visual Studio 15 or later.

### Build cROS

On Linux cROS uses CMake, the cross platform build system. To create a build directory

an compile the project, type the following commands in a terminal starting

from the source root directory:

```bash

$ mkdir build

$ cd build

$ cmake ..

$ make

```

You will find a static library (*libcros.a*) inside the *build/lib* directory, and

some test executables that  makes use of the libcros library inside the

*build/bin* directory. The entrypoint sample to learn how to use cROS is

*samples/ros_api.c*, which shows a non trivial example of a ROS node with

publishers/subcribers and calls to ROS services.

If you want to build the create the library documentation, type: (you'll need

Doxygen)

```bash

$ make docs

```

You'll find the html documentation inside the *docs/html* directory. To browse

the documentation, open with a web browser the index.html file.

On Windows cROS can be compiled opening the solution file msvs_projects/cros.sln with

Microsoft Visual Studio and building the solution.

### Licensing

cROS is licensed under the BSD license. For more

licensing options and for paid support please write an email to [email protected].