ROS

Robot Operating System (ROS)

GRIP Uses ROS Java to publish messages to ROS. GRIP is not your conventional ROS application. It can run without the ROS environment around it which may be unusual for someone trying to implement it into their ROS workflow.

The messages that GRIP Publishes can be found here.

If you would like to use GRIP with ROS you can simply clone the grip_msgs repository into your catkin workspace (we dont have a deb on the build farm yet). Once you have the messages built, you can run GRIP like any other installed application. Once you add a ROS Publish operation GRIP will begin to publish to the topic you specified.

GRIP's ROS Build System

This is only necessary if you need to add support to GRIP for more ROS messages

Creating ROS messages for GRIP was designed to be as painless as possible. In order to avoid the dependence upon ROS to add new messages there is a Docker Image that already has ROS and ROS Java installed.

Requirements

• Git Installed
• Ability to run shell scripts on your OS
• Docker installed

How to Add more GRIP Messages

In order to add new messages to GRIP you need to modify the grip_msgs repository. Once your new messages have been added and merged with the master branch for grip_msgs clone grip_ros_buildsystem. The grip_ros_buildsystem repository allows you to upload the new version of the messages to the rosjava_mvn_repo so they can be used in GRIP.