ROS Ruby Client: rosruby

ROS is Robot Operating System developed by Willow Garage and open source communities.

This project supports ruby ROS client. You can program robots by ruby, very easily.

API Reference

• rosruby API (trunk)

Let's start

Install ROS and ruby first. ROS document is http://ros.org/wiki/ROS/Installation .

You can install ruby by apt.

$ sudo apt-get install ruby rake

Download rosruby into your ROS_PACKAGE_PATH.

$ git clone git://github.com/OTL/rosruby.git

please add RUBYLIB environment variable, like below (if you are using bash).

$ echo "export RUBYLIB=`rospack find rosruby`/lib" >> ~/.bashrc
$ source ~/.bashrc

To use with precompiled electric release

If you are using precompiled ROS distro, use the msg/srv generation script (gen_for_precompiled.py) If you are using ROS from source, it requires just recompile the msg/srv packages by rosmake rosruby.

$ rosrun rosruby gen_for_precompiled.py

This converts msg/srv to .rb which is needed by sample programs. If you want to make other packages, add package names for args.

For example,

$ rosrun rosruby gen_for_precompiled.py geometry_msgs nav_msgs

This script generates *.rb files under $HOME/.ros/rosruby directory. When you update message generator, it may be good idea to remove that directory.

Sample Source

Subscriber

#!/usr/bin/env ruby

require 'ros'
require 'std_msgs/String'

node = ROS::Node.new('/rosruby/sample_subscriber')
node.subscribe('/chatter', Std_msgs::String) do |msg|
  puts "message come! = \'#{msg.data}\'"
end

while node.ok?
  node.spin_once
  sleep(1)
end

Publisher

#!/usr/bin/env ruby

require 'ros'
require 'std_msgs/String'

node = ROS::Node.new('/rosruby/sample_publisher')
publisher = node.advertise('/chatter', Std_msgs::String)

msg = Std_msgs::String.new

i = 0
while node.ok?
  msg.data = "Hello, rosruby!: #{i}"
  publisher.publish(msg)
  sleep(1.0)
  i += 1
end

Note

Ruby requires 'Start with Capital letter' for class or module names. So please use Std_msgs::String class instead of std_msgs::String.

Try Publish and Subscribe

You needs three terminal as it is often for ROS users. Then you run roscore if is not running.

$ roscore

run publisher sample

$ rosrun rosruby sample_publisher.rb

run subscription sample

$ rosrun rosruby sample_subscriber.rb

you can check publication by using rostopic.

$ rostopic list
$ rostopic echo /chatter

Try Service?

$ rosrun rosruby add_two_ints_server.rb

run client with args ('a' and 'b' for roscpp_tutorials/TwoInts)

$ rosrun rosruby add_two_ints_client.rb 10 20

do all tests

run roscore if is not running.

$ roscore

and run the unit tests.

$ rosrun rosruby run-test.rb

or

$ roscd rosruby
$ rake test