MIND talking to ROS - New example Skill

[Bei.Feng]

Hello Human Mentors,

We published a new example skill named ROS Skill in Vincross GitHub website. https://github.com/vincross/mindsdk/tree/master/examples/ROSSkill

It is a skill that shows how to publish images to an ROS topic via rosserial, which means MIND is able to communicate with ROS and it is easy to use ROS's build-in features.

Again, if you have any question regarding MIND working with ROS, or about the example Skill, just throw them below this topic.

[oalvarez]

Hi all!

I followed the ROSSkill tutorial, however, I wasn’t able to see any topic published yet.
I’m working with ROS Melodic and Ubuntu 18.04.

When I launch the roscore, it sets the ROS_MASTER_URI to http://127.0.0.1:11311
I modified the rosMasterIP parameter in the rosskill.go file to point to that same address(and also without the port, http://127.0.0.1).

After that, I tried to launch the rosserial in two different ways:

rosrun rosserial_python serial_node.py tcp (as in the tutorial)

and

roslaunch rosserial_server socket.launch

Which gives me the following message:

[INFO] [1572968681.254746]: ROS Serial Python Node
Fork_server is: False
[INFO] [1572968681.259512]: Waiting for socket connections on port 11411
waiting for socket connection

But I never get the connection!

Could you help me to get the connection?

Thank you,

regards,

• Olaya

[Tianqi]

Hi Olaya,

1. You don’t need to modify the ROS_MASTER_URI. Just use the default;

2. you need to modify the 18th line of ROSSkill/robot/SRC/ROSSkill with your own IP address. It’s like:

   const (
   rosMasterIP = “10.0.0.54” // ROS_MASTER_IP need to be modified manually
   rosTopic = “/image/compressed”
   )

   Here 10.0.0.54 should be the IP address of your ubuntu18.04.

3. You only need to run:
   rosrun rosserial_python serial_node.py tcp

   Don’t run:
   roslaunch rosserial_server socket.launch

   Otherwise it would cause the port occupation error which you met.

4. By the way, ROSSkill have been tested on the indigo and kinetic of ROS, have not been tested with the new melodic;

   the whole procedure should be as follows:

   roscore
   rosrun rosserial_python serial_node.py tcp #start rosserial service
   rosrun image_view image_view compressed # for ROS indigo
   rosrun rqt_image_view rqt_image_view # for ROS kinetic

[HarryPotter]

Thanks for the explanation in details. I have followed the instruction to modify the rosskill.go file as follows:
rosMasterIP = "169.254.210.002"
rosTopic = “/image/rqt_image_view”

Then mind build/mind pack/mind run.
Unfortunately no image/video can be shown in the rqt_image_view window. The commands given in four terminals is demonstrated below