kjanesch / rosserial

A ROS client library for small, embedded devices, such as Arduino

ROSserial for Hydro

This repo is ported from https://kforge.ros.org/rosserial/hg. It has been catkinized and updated for ROS Groovy and newer.

Changes for Hydro

0.5.4

• Fix a bug in string deserialization where part of length field could be uninitialized (issues 74 & 76)

0.5.3

• Add rosserial_server - a C++ server implementation
• Fix misc bugs including adding fixes for alignment issues on ARM processors 0.5.2
• Wire protocol change to add checksum to message length
• Support empty requests
• Re-integrate rosserial_xbee

Changes for Groovy/Catkin

• Moved to catkin build system
• Moved rosserial_xbee to experimential stack
• Created new rosserial metapackage, with depends only on python, client and msgs.
• Closed, integrated and/or moved all tickets to github.
• New message generation and workflow:
  • no longer uses roslib.rospack, or roslib.gentools (and is way, WAY faster)
  • messages are no longer built at built-time (yeah, sounds ridiculous, but is true, see below for new workflow)
  • beginnings of easier porting to new platforms (the lookup table is now found in architecture-dependent packages, etc)

Usage/Workflow

Workflow is a bit different from in the past. Rather than running the library generator over each package you want to use, you run it once and generate libraries for all installed messages:

  cd <ws>/src
  git clone https://github.com/ros-drivers/rosserial
  cd <ws>
  catkin_make
  catkin_make install
  source <ws>/install/setup.bash
  cd <sketchbook>/libraries
  rosrun rosserial_arduino make_libraries.py .

Note: currently you will HAVE to run catkin_make install, otherwise portions of the ros_lib directory will be missing. This will hopefully be fixed soon. Also note: you may have to delete /libraries/ros_lib in order to regenerate as its existence may cause an error.