ROS-gRPC Bridge

This ROS-gRPC bridge is intended to connect a roboRIO running Java and a ROS subsystem running Python on an FRC robot.

The supported message types are:

• Twist

Python Client Stubs

Install the grpcio-tools package with:

pip install grpcio-tools

Generate the gRPC python stubs with:

make py-stubs

Regenerate the python stubs whenever changes are made to the src/main/proto/rosbridge_service.proto file.

RosBridge Usage

The ros-grpc-bridge jar files are published to Jitpack.io.

Gradle

Add the JitPack repository and dependecy to your root build.gradle:

	allprojects {
		repositories {
			...
			mavenCentral()
			maven { url 'https://jitpack.io' }
		}
	}

	dependencies {
	        compile 'com.github.athenian-robotics:ros-grpc-bridge:1.0.9'
	}

Maven

Add the JitPack repository and dependecy to your pom.xml:

	<repositories>
		<repository>
		    <id>jitpack.io</id>
		    <url>https://jitpack.io</url>
		</repository>
	</repositories>

	<dependency>
	    <groupId>com.github.athenian-robotics</groupId>
	    <artifactId>ros-grpc-bridge</artifactId>
	    <version>1.0.9</version>
	</dependency>

Create a Release

1. Create a dev branch.
2. Make the release changes in the dev branch.
3. Update the version string in pom.xml and README.md.
4. Create a PR and squash and merge the changes in dev into the master branch.
5. Create a release on github.com and assign it a tag, which should match the version string above.
6. Goto JitPack.io and lookup the athenian-robotics/ros-grpc-bridge repo and click on Get it for the new release tag to generate a build.