This repository lets your ROS software communicate with IOP services. You can find an overview of all supported services at doc/other_packages.md.

IOP package	Noetic	Jazzy
iop_core
iop_msgs
iop_platform
iop_sensing
iop_sensing_clients
iop_gui
iop_jaus_manipulator
iop_jaus_manipulator_clients
iop_jaus_mobility
iop_jaus_mobility_clients
iop_jaus_sensing
iop_jaus_sensing_clients
iop_jaus_ugv
iop_jaus_ugv_clients
iop_examples
iop_node_manager
iop_wireshark_plugin

ROS/IOP Bridge uses JAUS Toolset (JTS) to generate basic C++ code from JSIDL definitions of JAUS. You find the JAUS Toolset desciption here. Currently only a part of sources of JTS is used. This part will build while you build the ROS/IOP Bridge sources. For successful build JTS needs follow external software:

Install OpenJKD:

sudo apt-get install default-jdk -y

If you prefer Oracle Java, see here

Make sure, that your ROS workspace is set up correctly:

• Using Creating a workspace

For easier download of bridge packages install vcstool:

sudo apt-get install vcstool -y

The sourcecode of the ROS/IOP-Bridge is splitted into different Git repositories. Depending on your configuration you need a different set of packages. An overview of existing packages you find here

For download the ROS/IOP-Bridge sources we use the vcstool:

Merge the iop.rosinstall file and fetch code.

cd ros/
mkdir src/iop
vcs import --input https://raw.githubusercontent.com/fkie/iop_core/refs/heads/ros2/iop_robot.rosinstall src/iop

Go to the root folder of your ROS workspace and type:

rosdep install --from-paths src --ignore-src

Go to the root folder of your ROS workspace and type:

colcon build --symlink-install

If some errors occur while JTS build regarding missing pthread and timer the libpthread and librt have to be included. This can be done by replacing LIBS=[] by LIBS=['-lpthread', '-lrt'] in jaustoolset/GUI/templates/Common/SConstruct

For convenient usage of ROS environment use the mas gui of fkie-multi-agent-suite. You can install it from https://github.com/fkie/fkie-multi-agent-suite.

On each host you run IOP components you need to start a Node Manager. There are two alternatives:

This Node Manager is part of JausToolSet and included in iop_core. You can start this Node Manager with following command:

bash rosrun jaustoolset jaus_node_manager.sh start

To exit the script press CTRL+C or type bash rosrun jaustoolset jaus_node_manager.sh stop in a new terminal window. See example below how to integrate the JTS-nodeManagerinto launch-file.

This Node Manager is written in Python and is an alternative development to JTSNodeManager. You need to install it as separate package from https://github.com/fkie/iop_node_manager using

wstool merge -t src/iop https://raw.githubusercontent.com/fkie/iop_node_manager/master/iop_node_manager.rosinstall
wstool update -t src/iop
catkin build

For a simple example with turtlesim see fkie_iop_cfg_sim_turtle package.

You find other examples in iop_examples repository.