RLPark/ROS integration? RLPark/JSON?

[Craig Sherstan]

Hey Thomas,

I am a new MSc student working with Patrick.

We're developing a new robot arm and writing the main code in ROS. However, we still want to be able to integrate with ROS.

I have a few options:

1) Write a RLPark/ROS direct connector. I see that the RLPark architecture would support this.

2) Write a TCP/IP ROS bridge that would convert the ROS data into the double arrays that RLPark is looking for.

3) Use a ROS JSON bridge. However, it does not appear to me that the RLPark code would easily be reworked to support JSON.

Now, option 1 is a good one in the long run. However, Patrick would like whatever bridge I write to open to other frameworks, not just RLPark, so options 2 or 3 would be preferable for that.

My preference would be to use the JSON bridge. JSON would allow a much richer data exchange than the current arrays of doubles structure.

Sorry, that was a long winded way to ask: have you considered either a ROS integration or a JSON data format?

Thanks,

Craig Sherstan

[Thomas Degris]

Hello Craig,

to answer directly your question, I don’t think there is a principled way to interface RLPark with other frameworks. Personally, I have always considered a case by case basis. I would use the option that is the most straightforward, and requires the less work. I am not sure that really answers your question.

Thomas 

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