ROS Background

ROS - The Robot Operating System is not an operating system but a middleware and set of libraries that facilitates the development and execution of distributed robotic systems.

ROS Provides some convenient classes / utilities:

• ros::Time
• ros::Duration
• ros::Time::now()

ROSMOD is built upon ROS, so you can use:

• ros::Publisher
• ros::Subscriber
• ros::Client
• ros::Server
• ros::Timer
• ros::NodeHandle

Additionally, ROSMOD adds (to each Component):

• config: a JsonCPP structure which should be accessed as config["User Configuration"] which will contain all the information supplied within the User Configuration attribute of the Component.
• logger: a Logger which can be used to save text and data in a way that will be automatically timestamped and will be automatically plotted by the WebGME-ROSMOD server in the ResultsViz.