SuperROS is something "super" (above) the Robot Operating System (ROS). First of all, SuperROS allows you to separate your business logic from the ROS framework making more transparent the transition to another middleware (e.g. ROS2 in the years to come). But, more importantly, allows you to Write Less and Do More.
You can use SuperROS as a classical ROS package or just include the scripts folder to your PYTHONPATH.
In this simple example we want to design a simple Amplifier reading a Float32 data which is then published (doubled) on another topic at a certain frequency. Although in this snippet the code reduction is not astonishing, it is a basic example to introduce the Publisher/Subscriber paradigm in SuperROS.
| Super ROS | Plain ROS |
|---|---|
from superros.comm import RosNode
from std_msgs.msg import Float32
node = RosNode("amplifier")
node.setHz(node.setupParameter("hz", 30))
node.createBufferedSubscriber("in", Float32)
node.createPublisher("out", Float32)
while node.isActive():
data = Float32(node.getBufferedData("in").data * 2.0)
node.getPublisher("out").publish(data)
node.tick() |
import rospy
from std_msgs.msg import Float32
current_value = 0.0
def newData(msg):
global current_value
current_value = msg.data
rospy.init_node('amplifier', anonymous=True)
rate = rospy.Rate(rospy.get_param("~hz", 30))
sub = rospy.Subscriber("in", Float32, newData)
pub = rospy.Publisher("out", Float32)
while not rospy.is_shutdown():
data = Float32(current_value*2.0)
pub.publish(data)
rate.sleep() |
In this example (a simple TF Listener/Broadcaster with some 3D transformations) it is clear the benefit of an unified proxy (ie. the RosNode) in order to reduce UserApp<->ROS interactions. Moreover, SuperROS uses the robust PyKDL library as shared model for 3D Transformations, simplifying code readability and portability.
| Super ROS | Plain ROS |
|---|---|
from superros.comm import RosNode
import PyKDL
node = RosNode("tf_manipulator")
node.setHz(node.setupParameter("hz", 30))
while node.isActive():
# Fetches Frame from TF Tree
frame = node.retrieveTransform("base_link", "odom")
if frame is not None:
# Creates a relative transformation frame
t = PyKDL.Frame(
PyKDL.Rotation.RotZ(1.57),
PyKDL.Vector(0, 0, 0.5)
)
# Applies transformation
frame = frame * t
# Send Frame to TF Tree
node.broadcastTransform(
frame, "base_link_2", "odom",
node.getCurrentTime()
)
node.tick() |
import rospy
import tf
import numpy as np
rospy.init_node('tf_manipulator')
rate = rospy.Rate(rospy.get_param("hz", 30))
listener = tf.TransformListener()
br = tf.TransformBroadcaster()
while not rospy.is_shutdown():
# Fetches Frame (T,R) from TF Tree. May fail
try:
(trans1, rot1) = listener.lookupTransform(
'/odom', '/base_link',
rospy.Time(0)
)
except (tf.LookupException):
continue
# Packs T,R in a single 4x4 matrix
trans1_mat = tf.transformations.translation_matrix(trans1)
rot1_mat = tf.transformations.quaternion_matrix(rot1)
mat1 = np.dot(trans1_mat, rot1_mat)
# Creates a relative transformation frame
t = tf.transformations.rotation_matrix(1.57, [0, 0, 1])
t[:3, 3] = np.array([0, 0, 0.5]).T
# Creates a relative transformation frame
mat2 = np.dot(mat1, t)
# Unpacks T,R from the 4x4 matrix
trans2 = tf.transformations.translation_from_matrix(mat2)
rot2 = tf.transformations.quaternion_from_matrix(mat2)
# Send Frame to TF Tree
br.sendTransform(
trans2, rot2, rospy.get_rostime(),
"base_link2", "odom"
)
rate.sleep() |
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