MiniROS is a standalone ROS distribution with minimum external requirements.
Supported platforms:
Contents:
- All serialization and transport code from roscpp.
- rosbag_storage library for interaction with rosbag files from C++.
- rostime. It is still not tested.
- include/generated contains generated code for std_msgs and common_msg
This project has reduced number of external dependencies and can be built using any c++14 compiler.
It also can work without catkin, but you still need catkin and gencxx to generate headers for new message types.
# We need to initialize git submodules to bzip2 and lz4
git submodule update --init
# Regular cmake build.
mkdir build
cd build
cmake ..
make
It generates libminiroscpp.so library, that contains all the code inside.
You can force miniros use system version of bzip by setting CMake option MINIROS_USE_SYSTEM_BZIP2=ON. MINIROS_USE_SYSTEM_LZ4 does the same for lz4.
TODO: test install scripts
You can build miniros alongside with your project sources. The project can have the following structure:
some_project
|- thirdparty
| \ miniroscpp
| ...
\- CMakeLists.txt
Somewhere in a root CMakeLists.txt:
# Adding miniros to the project.
add_subdirectory(thirdparty/miniroscpp)
Adding miniros to a target:
add_executable(some_executable main.cpp)
# Linking miniros using a direct name.
# All necessary includes will be added to target `some_executable` automatically
target_link_libraries(some_executable miniros::roscxx miniros::bag_storage)
# Adding paths to pregenerated headers.
target_include_directories(some_executable PRIVATE ${MINIROS_INCLUDE_GENERATED_DIRS})
More detailed migration guide can be found at Migration guide
- ROSBag C++ client is complete. It is an independent library. No boost or big external libraries are required.
- Ported ROS C++ client code to use only c++17.
- Ported rosbag play and record utilities. Now they invoked through
minibag recordandminibag playcommands. - Added some tests from original ros_comm package. Though they do not work without some external rosmaster.
- miniroscore is pure C++ rewrite of roscore. miniros::Master can be embedded into user application.
Missing things:
- ROS logging is probably broken right now. MINIROS_INFO works somehow, but other log levels are probably broken.
- Testing suite from ros_comm not completely backported. I need to replace rostest invocations with CMake/CTest scripts.
- No additional utilities like roslaunch, rostopic, rosnode, ... .
- No complicated things like actionlib, bond, nodelet, ... .
minibag infois not implemented.
Since miniros is experimental distribution, I am free to improve core API. These are possible directions:
- Rework global initialization: ros::init should return some sort of context.
All global variables should be moved to this context.
NodeHandleshould use either this context, or parent node in its constructor. This allows implementing nodelet approach without using separate API. - Ticket-based API for ros services: resolve issues with crashing server.
- Reduce compilation time by moving some exposed class fields to "Impl" section.
- Test everything on android.
- Test everything on windows.
Current codebase is an adaptation of the following ROS packages:
roscpp_core (http://wiki.ros.org/roscpp_core)
- cpp_common
- roscpp_traits - all headers have gone to include/miniros/...
- roscpp_serialization - all code moved to include/miniros and src accordingly.
- rostime - all code moved to include/miniros and src accordingly.
ros_comm (http://wiki.ros.org/ros_comm)
- roslz4 - used by rosbag. Moved to src/roslz4.
- tools/rosbag_storage - core rosbag library. It was renamed to minibag and merged.
console_bridge (http://wiki.ros.org/console_bridge)
topic_tools
- ShapeShifter - it was ported here for rosbag app.
Miniros uses experimental version of bzip2 from https://gitlab.com/federicomenaquintero/bzip2. It has handy CMake support.
Miniros uses official lz4
Most of miniros code is licenced under BSD-3 license, the same as original roscpp code. XmlRpc is included into codebase and has LGPL2 licence.