| Next revision | Previous revision |
| research:software:ambienttalk-ros [2013/01/07 00:21] – created jfabry | research:software:ambienttalk-ros [2013/01/30 15:18] (current) – [Installation procedure] jfabry |
|---|
| The goal of AmbientTalk/Ros is to integrate a reactive version of [[http://code.google.com/p/ambienttalk/|AmbientTalk]] into [[http://www.ros.org|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. | The goal of AmbientTalk/Ros is to integrate a reactive version of [[http://code.google.com/p/ambienttalk/|AmbientTalk]] into [[http://www.ros.org|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. | 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 [[:people:jfabry|Johan Fabry]] in conjunction with the authors of [[http://soft.vub.ac.be/amop/|AmbientTalk]], with [[http://soft.vub.ac.be/~alombide/|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 ===== |
| | |
| | * ROS: http://www.ros.org/wiki/ |
| | * The AmbientTalk project: http://code.google.com/p/ambienttalk/ |
| | * The essence of AmbientTalk http://code.google.com/p/ambienttalk/wiki/EssenceOfAmbientTalk |
| | * The AmbientTalk tutorial, actually more a language description http://soft.vub.ac.be/amop/at/tutorial/tutorial |
| | * Rosbridge V1.0: http://www.ros.org/wiki/rosbridge |
| | |
| | ===== 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 |
| | - Install Eclipse, see http://www.eclipse.org/downloads/ |
| | - Install AmbientTalk from the SVN repository, see http://code.google.com/p/ambienttalk/wiki/ConfiguringEclipse |
| | - Install the IDEAT AmbientTalk Eclipse plugin, see http://code.google.com/p/ambienttalk/wiki/EclipsePlugin |
| | - 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 [[http://www.ros.org/wiki/turtlesim|ROS turtlesim]] in atlib/bridges/ros/examples/turtlesim.at |
| | - Start ROS, from the terminal do a "roscore" |
| | - Start the ROSBridge, from another terminal do a "rosrun rosbridge rosbridge.py" |
| | - Start the turtle simulator, from another terminal do a "rosrun turtlesim turtlesim_node" |
| | - In Eclipse, right click on the example program file and select "run as AmbientTalk application" from the menu |
| | |
| |
| This is work in conjunction with the authors of [[http://soft.vub.ac.be/amop/|AmbientTalk]], with [[http://soft.vub.ac.be/~alombide/|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. | |
