I am currently working on a project that requires integrating ROS2 with OROCOS, and I am seeking your recommendations. I would appreciate any information or code examples you can provide, as well as the pros and cons of using this integration.
To give you some context, our project involves developing a complex robotic system that requires the real-time capabilities provided by OROCOS, while leveraging the extensive middleware and ecosystem of ROS2. We believe that combining the strengths of these frameworks we can show how to enhance development process and how to build a more robust and versatile system.
With that in mind, I have a few specific questions regarding the integration of ROS2 and OROCOS:
Code Examples: If any of you have successfully integrated ROS2 with OROCOS, I would greatly appreciate it if you could share some code examples or provide guidance on how to approach this integration. Examples related to data exchange, communication mechanisms, and synchronization between the two frameworks would be particularly helpful. If you have integrated OROCOS with ROS 1, I would also love to see this project!
Pros and Cons: In your experience, what are the main advantages and disadvantages of using ROS2 and OROCOS together? Are there any particular challenges or limitations you encountered during the integration process? It would be fantastic to gain insights into the trade-offs involved.
Best Practices and Recommendations: Are there any best practices or recommendations you can share when integrating ROS2 with OROCOS? This could include considerations for system architecture, deployment strategies, performance optimizations, or any other aspects that you found crucial for a successful integration.
Community and Resources: Lastly, I would love to hear about any resources, tutorials, or publications that you found valuable for learning about the ROS2 and OROCOS integration. Are there any communities or forums where I can find more information or connect with experts in this area?
If it can be of any help - my dive through the posts and other sources showed me these:
- Updates on Orocos ROS 1 and 2 integration (“Updates on Orocos ROS 1 and 2 integration”)
- GitHub - orocos/rtt_ros2_integration: Orocos ROS 2 integration libraries and tools (“Orocos RTT / ROS Integration Packages”)
- Benchmarking Real-Time Capabilities of ROS 2 and OROCOS for Robotics Applications | IEEE Conference Publication | IEEE Xplore (“Benchmarking Real-Time Capabilities of ROS 2 and OROCOS for Robotics Applications”)
- Tutorial: Orocos + ROS integration — Orocos documentation (empty…)
Looking forward to your responses!