AmbientTalk/Ros

The goal of AmbientTalk/Ros is to integrate a reactive version of AmbientTalk into ROS in a clean way. This such that it can be used as a ROS node for programming the behavior of the robot. Existing sensors and actuators (ROS nodes) are reified as Reactive Programming Behaviors and integrate into AmbientTalk in this way.

This is early work and still quite unstable. For now this page only contains the installation procedure and pointers to useful material.

This is work conducted by Johan Fabry in conjunction with the authors of AmbientTalk, with Andoni Lombide providing the bulk of the implementation. Thanks go to Eric Tanter, Pablo Guerrero, Wolfgang De Meuter and Serge Stinkwich for many productive discussions.

Useful material

Installation procedure

AmbientTalk/ROS is open source, under the MIT license. It is now included in the standard AmbientTalk distribution. Here are the required steps to install AmbientTalk/ROS on Ubuntu and ROS Groovy.

To install everything

  1. Install Eclipse, see http://www.eclipse.org/downloads/
  2. Install AmbientTalk from the SVN repository, see http://code.google.com/p/ambienttalk/wiki/ConfiguringEclipse
  3. Install the IDEAT AmbientTalk Eclipse plugin, see http://code.google.com/p/ambienttalk/wiki/EclipsePlugin
  4. Install the 1.0 version of ROSBridge, from the terminal do a “sudo apt-get install ros-groovy-brown-remotelab”

There is an example program that uses the ROS turtlesim in atlib/bridges/ros/examples/turtlesim.at

  1. Start ROS, from the terminal do a “roscore”
  2. Start the ROSBridge, from another terminal do a “rosrun rosbridge rosbridge.py”
  3. Start the turtle simulator, from another terminal do a “rosrun turtlesim turtlesim_node”
  4. In Eclipse, right click on the example program file and select “run as AmbientTalk application” from the menu