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rosjava_core | An implementation of ROS in pure Java with Android support | Robotics library

 by   rosjava Java Version: 0.3.0 License: No License

 by   rosjava Java Version: 0.3.0 License: No License

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kandi X-RAY | rosjava_core Summary

rosjava_core is a Java library typically used in Automation, Robotics applications. rosjava_core has no bugs, it has no vulnerabilities, it has build file available and it has low support. You can download it from GitHub.
rosjava is the first pure Java implementation of ROS. From ROS.org: ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. Developed at Google in cooperation with Willow Garage, rosjava enables integration of Android and ROS compatible robots. This project is under active development and currently alpha quality software. Please report bugs and feature requests on the issues list. To get started, visit the rosjava_core and android_core pages for documentation concerning the core libraries and examples. Also visit the roswiki rosjava and android pages for more general rosjava-android information. Still have questions? Check out the ros-users discussion list, post questions to ROS Answers with the tag "rosjava," or join #ROS on irc.oftc.net. rosjava was announced publicly during the Cloud Robotics tech talk at Google I/O 2011. Looking for a robot platform to experiment with ROS, Android, and cloud robotics? The OSRF TurtleBot is a great mobile perception platform for getting started with robotics development.
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  • rosjava_core has a low active ecosystem.
  • It has 177 star(s) with 140 fork(s). There are 41 watchers for this library.
  • It had no major release in the last 12 months.
  • There are 76 open issues and 148 have been closed. On average issues are closed in 527 days. There are 4 open pull requests and 0 closed requests.
  • It has a neutral sentiment in the developer community.
  • The latest version of rosjava_core is 0.3.0
rosjava_core Support
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quality kandi Quality

  • rosjava_core has 0 bugs and 0 code smells.
rosjava_core Quality
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rosjava_core Quality
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securitySecurity

  • rosjava_core has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.
  • rosjava_core code analysis shows 0 unresolved vulnerabilities.
  • There are 0 security hotspots that need review.
rosjava_core Security
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rosjava_core Security
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Average in #Robotics

license License

  • rosjava_core does not have a standard license declared.
  • Check the repository for any license declaration and review the terms closely.
  • Without a license, all rights are reserved, and you cannot use the library in your applications.
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rosjava_core License
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buildReuse

  • rosjava_core releases are available to install and integrate.
  • Build file is available. You can build the component from source.
  • Installation instructions are not available. Examples and code snippets are available.
  • rosjava_core saves you 10719 person hours of effort in developing the same functionality from scratch.
  • It has 21755 lines of code, 2385 functions and 437 files.
  • It has medium code complexity. Code complexity directly impacts maintainability of the code.
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rosjava_core Reuse
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Top functions reviewed by kandi - BETA

kandi has reviewed rosjava_core and discovered the below as its top functions. This is intended to give you an instant insight into rosjava_core implemented functionality, and help decide if they suit your requirements.

  • Get the type converter for the given class .
    • Execute the request .
      • Reads the request data from the server .
        • Sets the value of the given property .
          • Main loop .
            • Serialize the given object .
              • Get a string representation of a given class
                • Registers a new subscriber .
                  • End element .
                    • Returns true if the given object is an extension type

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                      rosjava_core Key Features

                      An implementation of ROS in pure Java with Android support.

                      rosjava_core Examples and Code Snippets

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                      Building with Bazel

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                      bazel build //...
                      

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                      Community Discussions

                      Trending Discussions on Robotics
                      • URDF loading incorrectly in RVIZ but correctly on Gazebo, what is the issue?
                      • How can i find the position of "boundary boxed" object with lidar and camera?
                      • What is the more common way to build up a robot control structure?
                      • How can I find angle between two turtles(agents) in a network in netlogo simulator?
                      • Targetless non-overlapping stereo camera calibration
                      • ROS: Publish topic without 3 second latching
                      • How to access the Optimization Solution formulated using Drake Toolbox
                      • Detect when 2 buttons are being pushed simultaneously without reacting to when the first button is pushed
                      • Why does my program makes my robot turn the power off?
                      • How to set up IK Trajectory Optimization in Drake Toolbox?
                      Trending Discussions on Robotics

                      QUESTION

                      URDF loading incorrectly in RVIZ but correctly on Gazebo, what is the issue?

                      Asked 2022-Mar-22 at 13:41

                      I have imported a urdf model from Solidworks using SW2URDF plugin. The model loads correctly on Gazebo but looks weird on RVIZ, even while trying to teleoperate the robot, the revolute joint of the manipulator moves instead of the wheels. Is there anyone who has faced this issue before or has a solution to it? Here is how it looks on Gazebo  Model on Gazebo

                      Here is how it looks on RVIZ Model on RVIZ

                      Here is the URDF file of the Model:

                      <?xml version="1.0" encoding="utf-8"?>
                      <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
                           Commit Version: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
                           For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
                      <robot
                        name="final_assembly3">
                        <link name="world" />
                        <joint name="fixed" type="fixed">
                           <parent link="world" />
                           <child link="base_link" />
                        </joint>
                      
                        <link
                          name="base_link">
                          <inertial>
                            <origin
                              xyz="0.14768 0.23303 0.22798"
                              rpy="0 0 0" />
                            <mass
                              value="7.6442" />
                            <inertia
                              ixx="0.075629"
                              ixy="3.85E-09"
                              ixz="-9.5343E-08"
                              iyy="0.14294"
                              iyz="1.6837E-11"
                              izz="0.081345" />
                          </inertial>
                          <visual>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/base_link.STL" />
                            </geometry>
                            <material
                              name="">
                              <color
                                rgba="1 1 1 1" />
                            </material>
                          </visual>
                          <collision>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/base_link.STL" />
                            </geometry>
                          </collision>
                        </link>
                        <link
                          name="Wheel 1">
                          <inertial>
                            <origin
                              xyz="-3.2558E-07 1.0722E-07 0.030838"
                              rpy="0 0 0" />
                            <mass
                              value="0.5000" />
                            <inertia
                              ixx="0.00072916667"
                              ixy="0.0000000"
                              ixz="0.0000000"
                              iyy="0.000625"
                              iyz="0.0000000"
                              izz="0.00072916667" />
                          </inertial>
                          <visual>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Wheel 1.STL" />
                            </geometry>
                            <material
                              name="">
                              <color
                                rgba="0.89804 0.91765 0.92941 1" />
                            </material>
                          </visual>
                          <collision>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Wheel 1.STL" />
                            </geometry>
                          </collision>
                          <gravity>0</gravity> 
                        </link>
                        <joint
                          name="Cont 1"
                          type="continuous">
                          <origin
                            xyz="-0.0034084 -0.12798 0.10053"
                            rpy="-1.5708 0 1.5708" />
                          <parent
                            link="base_link" />
                          <child
                            link="Wheel 1" />
                          <axis
                            xyz="0 0 1" />
                        </joint>
                        <link
                          name="Wheel 2">
                          <inertial>
                            <origin
                              xyz="-3.2557837015279E-07 1.07217308559227E-07 0.0308380289896838"
                              rpy="0 0 0" />
                            <mass
                              value="0.5000" />
                            <inertia
                              ixx="0.00072916667"
                              ixy="0.0000000"
                              ixz="0.0000000"
                              iyy="0.000625"
                              iyz="0.0000000"
                              izz="0.00072916667" />
                          </inertial>
                          <visual>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Wheel 2.STL" />
                            </geometry>
                            <material
                              name="">
                              <color
                                rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
                            </material>
                          </visual>
                          <collision>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Wheel 2.STL" />
                            </geometry>
                          </collision>
                         <gravity>0</gravity> 
                        </link>
                        <joint
                          name="Cont 2"
                          type="continuous">
                          <origin
                            xyz="0.29877 -0.32798 0.10053"
                            rpy="1.5708 0 1.5708" />
                          <parent
                            link="base_link" />
                          <child
                            link="Wheel 2" />
                          <axis
                            xyz="0 0 1" />
                        </joint>
                        <link
                          name="Wheel 3">
                          <inertial>
                            <origin
                              xyz="-3.26336083100731E-07 1.07668861937249E-07 -0.0308380347831287"
                              rpy="0 0 0" />
                            <mass
                              value="0.5000" />
                            <inertia
                              ixx="0.00072916667"
                              ixy="0.0000000"
                              ixz="0.0000000"
                              iyy="0.000625"
                              iyz="0.0000000"
                              izz="0.00072916667" />
                          </inertial>
                          <visual>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Wheel 3.STL" />
                            </geometry>
                            <material
                              name="">
                              <color
                                rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
                            </material>
                          </visual>
                          <collision>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Wheel 3.STL" />
                            </geometry>
                          </collision>
                          <gravity>0</gravity> 
                        </link>
                        <joint
                          name="Cont 3"
                          type="continuous">
                          <origin
                            xyz="-0.0034084 -0.32798 0.10053"
                            rpy="1.5708 0 1.5708" />
                          <parent
                            link="base_link" />
                          <child
                            link="Wheel 3" />
                          <axis
                            xyz="0 0 1" />
                        </joint>
                        <link
                          name="Wheel 4">
                          <inertial>
                            <origin
                              xyz="-3.26299866348911E-07 1.07652009542769E-07 0.0291707139063403"
                              rpy="0 0 0" />
                            <mass
                              value="0.5000" />
                            <inertia
                              ixx="0.00072916667"
                              ixy="0.0000000"
                              ixz="0.0000000"
                              iyy="0.000625"
                              iyz="0.0000000"
                              izz="0.00072916667" />
                          </inertial>
                          <visual>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Wheel 4.STL" />
                            </geometry>
                            <material
                              name="">
                              <color
                                rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
                            </material>
                          </visual>
                          <collision>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Wheel 4.STL" />
                            </geometry>
                          </collision>
                          <gravity>0</gravity> 
                        </link>
                        <joint
                          name="Cont 4"
                          type="continuous">
                          <origin
                            xyz="0.30046 -0.12798 0.10053"
                            rpy="1.5708 0.62487 1.5708" />
                          <parent
                            link="base_link" />
                          <child
                            link="Wheel 4" />
                          <axis
                            xyz="0 0 1" />
                        </joint>
                        <gazebo>
                          <plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
                            <commandTopic>cmd_vel</commandTopic>
                            <odometryTopic>odom</odometryTopic>
                            <odometryFrame>odom</odometryFrame>
                            <odometryRate>50.0</odometryRate>
                            <robotBaseFrame>base_footprint</robotBaseFrame>
                          </plugin>
                        </gazebo>
                        <link
                          name="New Static Link">
                          <inertial>
                            <origin
                              xyz="0.0172790917411035 0.102994908792773 -0.000286417787769305"
                              rpy="0 0 0" />
                            <mass
                              value="1.94401355435528" />
                            <inertia
                              ixx="0.00768941377852196"
                              ixy="-0.0023016367314421"
                              ixz="2.28881904576314E-05"
                              iyy="0.00450259485431559"
                              iyz="3.78227208152756E-05"
                              izz="0.0103483641272583" />
                          </inertial>
                          <visual>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/New Static Link.STL" />
                            </geometry>
                            <material
                              name="">
                              <color
                                rgba="1 1 1 1" />
                            </material>
                          </visual>
                          <collision>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/New Static Link.STL" />
                            </geometry>
                          </collision>
                          <gravity>0</gravity> 
                        </link>
                        <joint
                          name="Fixed"
                          type="fixed">
                          <origin
                            xyz="0.14768 -0.22798 0.33053"
                            rpy="1.5708 0 -1.581" />
                          <parent
                            link="base_link" />
                          <child
                            link="New Static Link" />
                          <axis
                            xyz="0 1 0" />
                        </joint>
                        <link
                          name="Arm">
                          <inertial>
                            <origin
                              xyz="0.13229755761114 -0.000278839398755615 -0.0323012411261709"
                              rpy="0 0 0" />
                            <mass
                              value="1.80462691606488" />
                            <inertia
                              ixx="0.00337104522287667"
                              ixy="2.3173417802539E-05"
                              ixz="-0.000161183912931026"
                              iyy="0.0199987994056373"
                              iyz="-1.64319461670501E-06"
                              izz="0.0222082055539029" />
                          </inertial>
                          <visual>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Arm.STL" />
                            </geometry>
                            <material
                              name="">
                              <color
                                rgba="1 1 1 1" />
                            </material>
                          </visual>
                          <collision>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Arm.STL" />
                            </geometry>
                          </collision>
                          <gravity>0</gravity> 
                        </link>
                        <joint
                          name="Rev1"
                          type="revolute">
                          <origin
                            xyz="0.06 0.18 -0.030782"
                            rpy="0 0 0.18829" />
                          <parent
                            link="New Static Link" />
                          <child
                            link="Arm" />
                          <axis
                            xyz="0 0 1" />
                          <limit
                            lower="0"
                            upper="0"
                            effort="0"
                            velocity="0" />
                        </joint>
                        <link
                          name="Pris 1">
                          <inertial>
                            <origin
                              xyz="0.0335816493728636 1.71749397870347E-07 0.0119354658625156"
                              rpy="0 0 0" />
                            <mass
                              value="0.123182781546625" />
                            <inertia
                              ixx="3.77360992389157E-05"
                              ixy="1.28183032967861E-11"
                              ixz="-5.81374538385023E-06"
                              iyy="0.000122947375330809"
                              iyz="2.65123689114698E-10"
                              izz="0.000144337931781889" />
                          </inertial>
                          <visual>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Pris 1.STL" />
                            </geometry>
                            <material
                              name="">
                              <color
                                rgba="1 1 1 1" />
                            </material>
                          </visual>
                          <collision>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Pris 1.STL" />
                            </geometry>
                          </collision>
                          <gravity>0</gravity> 
                        </link>
                        <joint
                          name="Pris 1"
                          type="revolute">
                          <origin
                            xyz="0.1 0 -0.063391"
                            rpy="3.1416 0 -1.9477" />
                          <parent
                            link="Arm" />
                          <child
                            link="Pris 1" />
                          <axis
                            xyz="0 0 1" />
                          <limit
                            lower="0"
                            upper="0"
                            effort="0"
                            velocity="0" />
                        </joint>
                        <link
                          name="Pris 2">
                          <inertial>
                            <origin
                              xyz="1.8466057571942E-09 -5.55111512312578E-17 0.01"
                              rpy="0 0 0" />
                            <mass
                              value="0.260668670250234" />
                            <inertia
                              ixx="7.94869252643328E-05"
                              ixy="-2.07014852308951E-18"
                              ixz="2.73993982613085E-18"
                              iyy="0.00115947637560852"
                              iyz="1.99348984198689E-09"
                              izz="0.00122317832768109" />
                          </inertial>
                          <visual>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Pris 2.STL" />
                            </geometry>
                            <material
                              name="">
                              <color
                                rgba="1 1 1 1" />
                            </material>
                          </visual>
                          <collision>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Pris 2.STL" />
                            </geometry>
                          </collision>
                         <gravity>0</gravity> 
                        </link>
                        <joint
                          name="Pris 2"
                          type="revolute">
                          <origin
                            xyz="-0.0014893 -0.078861 0.020827"
                            rpy="0 0 0.90855" />
                          <parent
                            link="Pris 1" />
                          <child
                            link="Pris 2" />
                          <axis
                            xyz="0 0 0" />
                          <limit
                            lower="0"
                            upper="0"
                            effort="0"
                            velocity="0" />
                        </joint>
                        <link
                          name="Pris 3">
                          <inertial>
                            <origin
                              xyz="-0.166565243027124 0.000967072198009372 0.0300000329001753"
                              rpy="0 0 0" />
                            <mass
                              value="0.449710314809642" />
                            <inertia
                              ixx="0.00137456804218307"
                              ixy="-4.43060167581936E-05"
                              ixz="9.82391747567394E-10"
                              iyy="0.002208699287522"
                              iyz="-1.54947639651244E-09"
                              izz="0.00315643719811711" />
                          </inertial>
                          <visual>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Pris 3.STL" />
                            </geometry>
                            <material
                              name="">
                              <color
                                rgba="1 1 1 1" />
                            </material>
                          </visual>
                          <collision>
                            <origin
                              xyz="0 0 0"
                              rpy="0 0 0" />
                            <geometry>
                              <mesh
                                filename="package://final_assembly3/meshes/Pris 3.STL" />
                            </geometry>
                          </collision>
                         <gravity>0</gravity> 
                        </link>
                        <joint
                          name="Pris 3"
                          type="prismatic">
                          <origin
                            xyz="0.20514 0.030503 -0.039218"
                            rpy="-1.5708 0 3.1416" />
                          <parent
                            link="Arm" />
                          <child
                            link="Pris 3" />
                          <axis
                            xyz="1 0 0" />
                          <limit
                            lower="0"
                            upper="0"
                            effort="0"
                            velocity="0" />
                        </joint>
                        
                      </robot>
                      

                      ROS version:ROS Melodic

                      Ubuntu 18.04

                      ANSWER

                      Answered 2022-Mar-22 at 13:41

                      So, I realized two problems:

                      First, you have to change the fixed frame in the global options of RViz to world or provide a transformation between map and world.

                      Second, your URDF seems broken. There is something wrong with your revolute-typed joints. Changing their type to fixed fixed the problem. I think, it's best if you ask a separate question with a minimal example regarding this second problem.

                      Source https://stackoverflow.com/questions/71567347

                      Community Discussions, Code Snippets contain sources that include Stack Exchange Network

                      Vulnerabilities

                      No vulnerabilities reported

                      Install rosjava_core

                      You can download it from GitHub.
                      You can use rosjava_core like any standard Java library. Please include the the jar files in your classpath. You can also use any IDE and you can run and debug the rosjava_core component as you would do with any other Java program. Best practice is to use a build tool that supports dependency management such as Maven or Gradle. For Maven installation, please refer maven.apache.org. For Gradle installation, please refer gradle.org .

                      Support

                      For any new features, suggestions and bugs create an issue on GitHub. If you have any questions check and ask questions on community page Stack Overflow .

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