Announcement by Ruben Smits to ros-users
The Orocos Toolchain ROS stack developers are pleased to announce a new release of the orocos_toolchain_ros stack.
Debian packages are already available for unstable, diamondback and cturtle (only for lucid and maverick) will be available soon.
Most important changes:
We moved the development to GIT: the stack is available here (only http protocol is supported). Since we use git submodules do not forget to use
-- recursiveif you clone or to issuegit submodule init;git submodule updateafter cloning.Integration of RTT/Properties and ROS/Parameters: a new RTT service is available in the
rtt_ros_parampackage that allows RTT users to store component properties on the ROS parameter server or to refresh them using values on the ROS parameter server. The integration also works seamlessly for your complex types as long as a RTT/Typekit for the type exists. Check here for more details.The RTT typekit and transportkit generation for messages now creates a single library/typekit/transportkit for each package instead of one for each message type.
RTT and OCL are now native ROS packages, which allows us to use rosmake directly on the RTT and OCL source.
OCL offers a
orocreate-pkgtool to create a new Orocos package (which uses rosbuild behind the scenes if available) including template code for components, typekits, plugins and services.the OCL/deployer can now be used with roslaunch, each deployed process becomes a single node, containing the different deployed components.
the OCL/deployer now uses rospack in its import functionality, to find new component libraries, services, plugins, typekits and transportkits.
What's still on the roadmap:
- Nicer solution for sequence types in the rosparam integration
- Integration of the RTT/logging with the ROS/logging
- Integration of RTT/Operations and ROS/Services (This one is currently on a hold because the feasibility is still uncertain)
More information:
-- Your friendly Orocos-ROS integration team.
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