mteb/BrightProRoboticsRetrieval huggingface dataset:
##  About
There's two parts to rosbridge: the protocol and the implementation.
###  Rosbridge Protocol
The [ rosbridge protocol
](https://github.com/RobotWebTools/rosbridge_suite/blob/ros1/ROSBRIDGE_PROTOCOL.md)
is a specification for sending JSON based commands to ROS (and in theory, any
other robot middleware). An example of the protocol for subscribing to a
topic:
    
    
    { "op": "subscribe",
      "topic": "/cmd_vel",
      "type": "geometry_msgs/Twist"
    }
The specification is programming language and transport agnostic. The idea is
that any language or transport that can send JSON can talk the rosbridge
protocol and interact with ROS. The protocol covers subscribing and publishing
topics, service calls, getting and setting params, and even compressing
messages and more.
###  Rosbridge Implementation
The rosbridge_suite package is a collection of packages that implement the
rosbridge protocol and provides a [ WebSocket ](/WebSocket) transport layer.
The packages include:
  * [ rosbridge_library ](/rosbridge_library) \- The core rosbridge package. The rosbridge_library is responsible for taking the JSON string and sending the commands to ROS and vice versa. 
  * [ rosapi ](/rosapi) \- Makes certain ROS actions accessible via service calls that are normally reserved for [ ROS client libraries ](/Client%20Libraries) . This includes getting and setting params, getting topics list, and more. 
  * [ rosbridge_server ](/rosbridge_server) \- While rosbridge_library provides the JSON<->ROS conversion, it leaves the transport layer to others. Rosbridge_server provides a [ WebSocket ](/WebSocket) connection so browsers can "talk rosbridge." [ Roslibjs ](/roslibjs) is a [ JavaScript ](/JavaScript) library for the browser that can talk to ROS via rosbridge_server. 
##  Source Code
Source code is available at [ https://github.com/RobotWebTools/rosbridge_suite
](https://github.com/RobotWebTools/rosbridge_suite) . Please file issues and
pull requests there.
##  Installation
Rosbridge is available as a debian. To install:
    
    
    sudo apt-get install ros-<rosdistro>-rosbridge-server
##  Tutorials
###  Beginner Tutorials
  1. [ Running Rosbridge ](/rosbridge_suite/Tutorials/RunningRosbridge)
This tutorial shows you how to launch a rosbridge server and talk to it.
###  Intermediate Tutorials
  1. [ Developing Rosbridge ](/rosbridge_suite/Tutorials/DevelopingRosbridge)
This tutorial shows you how to develop on rosbridge itself.
---  
  
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[ ![@firesurfer](https://avatars.githubusercontent.com/u/8481806?s=40&v=4)
](/firesurfer) [ firesurfer ](/firesurfer) mentioned this pull request  Aug
29, 2023
[ [JTC] set_hold_position results into not exactly reaching desired target
#759  ](/ros-controls/ros2_controllers/issues/759)
Closed
[ christophfroehlich ](/christophfroehlich) added a commit to
christophfroehlich/ros2_controllers that referenced this pull request  Aug 31,
2023
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![@christophfroehlich](https://avatars.githubusercontent.com/u/3367244?s=40&u=98db36351213b952b1c6ce663c1fde4108272539&v=4)
](/christophfroehlich)
` [ [JTC] Explicitly set hold position (
](/christophfroehlich/ros2_controllers/commit/f5f8d27c11722a0bd5e94f98f0c2b64c2cce0323
"\[JTC\] Explicitly set hold position \(#558\)") [ ros-controls#558
](https://github.com/ros-controls/ros2_controllers/pull/558) [ )
](/christophfroehlich/ros2_controllers/commit/f5f8d27c11722a0bd5e94f98f0c2b64c2cce0323
"\[JTC\] Explicitly set hold position \(#558\)") `
` [ f5f8d27
](/christophfroehlich/ros2_controllers/commit/f5f8d27c11722a0bd5e94f98f0c2b64c2cce0323)
`
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###
**[ christophfroehlich ](/christophfroehlich) ** commented  Aug 31, 2023
> yes, here is the launch file I used to try JTC - [
> https://github.com/frankaemika/franka_ros2/blob/humble/franka_moveit_config/launch/moveit.launch.py
> ](https://github.com/frankaemika/franka_ros2/blob/humble/franka_moveit_config/launch/moveit.launch.py)
> . All settings are default. I removed the old JTC in our repo and added the
> one in humble branch from ros2_controllers. Devcontainer in the repo should
> reflect my setup.
This PR hasn't been backported to humble yet, which means you were still
* ` set_hold_position ` means 
    * position command interface: set the current position as command 
    * velocity (open loop), acceleration command interface: set command to zero 
    * command interface velocity + effort in closed loop: position control on current position 
  * Deactivation: 
    * position command interface: set the current position as command 
    * velocity + effort command interface: set zero 
  * Tests ensuring this behavior 
This should fix
  * [ JTC does not stop velocity command after goal succeed  #469  ](https://github.com/ros-controls/ros2_controllers/issues/469)
  * [ JointTrajectoryController fails to hold position on effort control  #514  ](https://github.com/ros-controls/ros2_controllers/issues/514)
  * [ [JTC] set_hold_position() doesn't actually stop the robot  #683  ](https://github.com/ros-controls/ros2_controllers/issues/683)
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` [ Explicitly set hold position ](/ros-
controls/ros2_controllers/pull/558/commits/e31510116c2452e48aacb4891e066c4e56688734
"Explicitly set hold position
\(cherry picked from commit bbc13b2743a64f76fbca90d0b7fc59a66b3c53b1\)") ` …
` [ e315101 ](/ros-
controls/ros2_controllers/pull/558/commits/e31510116c2452e48aacb4891e066c4e56688734)
`
    
    
    (cherry picked from commit [bbc13b2](https://github.com/christophfroehlich/ros2_controllers/commit/bbc13b2743a64f76fbca90d0b7fc59a66b3c53b1))
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requested review from [ anfemosa  ](/anfemosa) , [ bmagyar  ](/bmagyar) , [
destogl  ](/destogl) , [ homalozoa  ](/homalozoa) , [ mcbed  ](/mcbed) , [
peterdavidfagan  ](/peterdavidfagan) and [ progtologist  ](/progtologist)
March 31, 2023 19:09
[
![@christophfroehlich](https://avatars.githubusercontent.com/u/3367244?s=40&u=98db36351213b952b1c6ce663c1fde4108272539&v=4)
](/christophfroehlich) [ christophfroehlich ](/christophfroehlich) marked this
as a duplicate of [ #531 ](/ros-controls/ros2_controllers/pull/531 "JTC:
We have posted [ this question ](https://github.com/ros-
planning/moveit2/issues/1811) to ask how this can be set without hardcoding it
using the new config load param system, but I'll consider this as answered not
to extend more.
If someone comes across this, just let you know that it was solved by two
things:
  1. adding before each launch file command in the shell: 
` export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp `
  2. Modified this file so that we set ` use_sim_time ` to True ( only applicable obviously to simulation ): [ launches.py ](https://github.com/TheConstructAi/moveit2/blob/humble/moveit_configs_utils/moveit_configs_utils/launches.py#L232)
Thanks again for the help [ @JafarAbdi ](https://github.com/JafarAbdi)  
  
---  
  
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19, 2023
[ FastDDS runtime issues [Humble, Rolling]  #1874  ](/ros-
planning/moveit2/issues/1874)
Closed
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###
**[ henningkayser ](/henningkayser) ** commented  Jan 19, 2023
Closing this, updates to the DDS situation will be posted to [ #1874
](https://github.com/ros-planning/moveit2/issues/1874)  
  
---  
  
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2023
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###
**[ asasine ](/asasine) ** commented  Sep 12, 2023
[ @abravalheri ](https://github.com/abravalheri) I can confirm 68.2.1
mitigates the issue.  
  
---  
  
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**[ abravalheri ](/abravalheri) ** commented  Sep 12, 2023
Thank you very much [ @asasine ](https://github.com/asasine) for confirming.
[ @owend ](https://github.com/owend) , please let me know if that is enough
for this issue. If that is OK, we can go ahead and close.  
  
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**[ owend ](/owend) ** commented  Sep 12, 2023
Fixed with 68.2.1, thanks!
Definition at line [ 43 ](message__instance_8cpp_source.html#l00043) of file [
message_instance.cpp ](message__instance_8cpp_source.html) .
##  ◆  getTopic()
string const & rosbag::MessageInstance::getTopic  |  (  |  |  )  |  const  
---|---|---|---|---  
  
Definition at line [ 44 ](message__instance_8cpp_source.html#l00044) of file [
message_instance.cpp ](message__instance_8cpp_source.html) .
##  ◆  instantiate()
template<class T >
[ boost::shared_ptr
](../../../../api/roscpp_traits/html/classboost_1_1shared__ptr.html) < T >
rosbag::MessageInstance::instantiate  
---  
  
Templated call to instantiate a message.
returns NULL pointer if incompatible
Definition at line [ 161 ](message__instance_8h_source.html#l00161) of file [
message_instance.h ](message__instance_8h_source.html) .
##  ◆  isLatching()
bool rosbag::MessageInstance::isLatching  |  (  |  |  )  |  const  
---|---|---|---|---  
  
Definition at line [ 56 ](message__instance_8cpp_source.html#l00056) of file [
message_instance.cpp ](message__instance_8cpp_source.html) .
##  ◆  isType()
template<class T >
bool rosbag::MessageInstance::isType  
---  
  
Test whether the underlying message of the specified type.
returns true iff the message is of the template type
Definition at line [ 155 ](message__instance_8h_source.html#l00155) of file [
message_instance.h ](message__instance_8h_source.html) .
##  ◆  size()
uint32_t rosbag::MessageInstance::size  |  (  |  |  )  |  const  
---|---|---|---|---  
  
Size of serialized message.
Definition at line [ 61 ](message__instance_8cpp_source.html#l00061) of file [
    message_instance.cpp ](message__instance_8cpp_source.html) .
##  ◆  write()
template<typename Stream >
void rosbag::MessageInstance::write  |  (  |  [ Stream
](classrosbag_1_1Stream.html) & |  _stream_ |  )  |  const  
---|---|---|---|---|---  
  
Write serialized message contents out to a stream.
Definition at line [ 169 ](message__instance_8h_source.html#l00169) of file [
message_instance.h ](message__instance_8h_source.html) .
#  Package Summary
Documented
ROS Serial is a point-to-point version of ROS communications over serial,
primarily for integrating low-cost microcontrollers (Arduino) into ROS. ROS
serial consists of a general p2p protocol, libraries for use with Arduino, and
nodes for the PC/Tablet side (currently in both Python and Java).
  * Author: Maintained by Michael Ferguson, Adam Stambler 
  * License: BSD 
  * Source: hg [ https://kforge.ros.org/rosserial/hg ](https://kforge.ros.org/rosserial/hg) (branch: default) 
_**rosserial** : [ rosserial_arduino ](/rosserial_arduino?distro=fuerte) | [
rosserial_client ](/rosserial_client?distro=fuerte) | [
rosserial_embeddedlinux ](/rosserial_embeddedlinux?distro=fuerte) | [
rosserial_msgs ](/rosserial_msgs?distro=fuerte) | [ rosserial_python
](/rosserial_python?distro=fuerte) | [ rosserial_xbee
](/rosserial_xbee?distro=fuerte) _  
**Package Links**
  * [ Tutorials ](/rosserial/Tutorials)
  * [ FAQ ](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:rosserial/page:1/)
  * [ Change List ](/rosserial/ChangeList)
  * [ Reviews ](/rosserial/Reviews)
** Dependencies  (4) **  
  * [ common_msgs ](/common_msgs?distro=fuerte)
  * [ geometry ](/geometry?distro=fuerte)
  * [ ros ](/ros?distro=fuerte)
  * [ ros_comm ](/ros_comm?distro=fuerte)
** Used by  (1) **  
  * [ kingfisher ](/kingfisher?distro=fuerte)
#  Package Summary
Documented
ROS Serial is a point-to-point version of ROS communications over serial,
primarily for integrating low-cost microcontrollers (Arduino) into ROS. ROS
serial consists of a general p2p protocol, libraries for use with Arduino, and
nodes for the PC/Tablet side (currently in both Python and Java).
  * Author: Maintained by Michael Ferguson, Adam Stambler 
  * License: BSD 
  * Source: hg [ https://kforge.ros.org/rosserial/hg ](https://kforge.ros.org/rosserial/hg) (branch: default) 
_**rosserial** : [ rosserial_client ](/rosserial_client?distro=groovy) | [
rosserial_msgs ](/rosserial_msgs?distro=groovy) | [ rosserial_python
](/rosserial_python?distro=groovy) _  
**Package Links**
  * [ Tutorials ](/rosserial/Tutorials)
  * [ FAQ ](http://answers.ros.org/questions/scope:all/sort:activity-desc/tags:rosserial/page:1/)
  * [ Change List ](/rosserial/ChangeList)
support for STM32 MCUs, based on STM32CubeMX HAL  
  
[ ros-teensy ](https://github.com/mcgill-robotics/ros-teensy)
|
support for teensy platforms  
  
Refer to [ Adding Support for New Hardware
](/rosserial_client/Tutorials/Adding%20Support%20for%20New%20Hardware) for
details on how to add a new hardware platform.
###  ROS-side Interfaces
Devices running ` rosserial ` code require a node on the host machine to
bridge the connection from the serial protocol to the more general ROS
network:
[ rosserial_python ](/rosserial_python)
|
A Python-based implementation (recommended for PC usage).  
  
---|---  
  
[ rosserial_server ](/rosserial_server)
|
A C++ implementation based on [ the ShapeShifter message
](http://docs.ros.org/api/topic_tools/html/classtopic__tools_1_1ShapeShifter.html)
, some limitations compared to rosserial_python but recommended for high-
performance applications.  
  
###  Examples and Use Cases
We have created a number of extensions and examples:
  * [ rosserial_arduino Tutorials ](/rosserial_arduino/Tutorials) \- contains a number of examples of using various sensors and actuators with Arduino. This is the most well documented tutorial, and many of the feature depicted there can be extended into other platforms. 
  * [ rosserial_xbee ](/rosserial_xbee) \- tools for creating sensor networks using XBEE devices and Arduino. 
  * [ rosserial_embeddedlinux Tutorials ](/rosserial_embeddedlinux/Tutorials) contains a number of examples of various sensors and actuators with an embedded linux system which cannot run full-blown ROS. 
  * [ rosserial_mbed Tutorials ](/rosserial_mbed/Tutorials) \- contains a number of examples of using various sensors and actuators with and Mbed platform. 
  * [ rosserial_tivac Tutorials ](/rosserial_tivac/Tutorials) \- Various examples for programming TI's TivaC Launchpad with Energia IDE or catkinized projects. 
##  Limitations
###  Maximum Size of a Message, Maximum Number of Publishers/Subscribers
The number of Publishers and Subscribers are limited at 25, and the size of
serialization and deserialization buffers are limited at 512 bytes by default
for [ rosserial_client ](/rosserial_client) .
However, those numbers and sizes are too big for microcontroller with limited
[ SRAM ](https://learn.adafruit.com/memories-of-an-arduino?view=all#sram) .
* [ Espacenet  ](https://worldwide.espacenet.com/publicationDetails/biblio?CC=DE&NR=10008182A1&KC=A1&FT=D)
  * [ Global Dossier  ](https://globaldossier.uspto.gov/#/result/publication/DE/10008182/1)
  * [ DPMA  ](https://register.dpma.de/DPMAregister/pat/PatSchrifteneinsicht?docId=DE10008182A1)
  * [ Discuss  ](https://patents.stackexchange.com/questions/tagged/DE10008182A1)
* [ Index ](classes.html)
  * [ List ](annotated.html)
  * [ Hierarchy ](hierarchy.html)
  * [ Members: All ](functions.html)
  * [ Members: Functions ](functions_func.html)
  * [ Members: Variables ](functions_vars.html)
  * [ Members: Typedefs ](functions_type.html)
  * [ Members: Enumerations ](functions_enum.html)
  * [ Members: Enumerator ](functions_eval.html)
* [ List ](namespaces.html)
  * [ Members ](namespacemembers.html)
  * [ Functions ](namespacemembers_func.html)
  * [ Typedefs ](namespacemembers_type.html)
  * [ Variables ](namespacemembers_vars.html)
  * [ Enumerations ](namespacemembers_enum.html)
  * [ Enumerator ](namespacemembers_eval.html)
Publication  |  Publication Date  |  Title  
---|---|---  
[ DE102004048079C5  (  en  ) ](/patent/DE102004048079C5/en) |  2011-05-12  |
Connecting arrangement between a shaft journal and a constant velocity joint
with gland  
[ DE102008009361B4  (  en  ) ](/patent/DE102008009361B4/en) |  2009-11-12  |
Connection arrangement with retaining ring  
[ DE102012214884B3  (  en  ) ](/patent/DE102012214884B3/en) |  2014-02-27  |
Coupling arrangement and coupling element  
[ DE19911111C1  (  en  ) ](/patent/DE19911111C1/en) |  2001-01-11  |
Arrangement with a constant velocity fixed joint and a connecting shaft  
[ DE2334938C3  (  en  ) ](/patent/DE2334938C3/en) |  1975-06-19  |  Positive
coupling  
[ WO2007054190A1  (  en  ) ](/patent/WO2007054190A1/en) |  2007-05-18  |
Wheel hub/rotary joint arrangement having a spur toothing system  
[ EP1287282B1  (  en  ) ](/patent/EP1287282B1/en) |  2004-11-10  |  Screw
connection  
[ WO2008022625A1  (  en  ) ](/patent/WO2008022625A1/en) |  2008-02-28  |
Connecting arrangement between a shaft journal and a joint part  
[ DE102009017007B4  (  en  ) ](/patent/DE102009017007B4/en) |  2016-10-20  |
Connection system and constant velocity joint  
[ DE19648998B4  (  en  ) ](/patent/DE19648998B4/en) |  2014-02-27  |
Arrangement applicable to telescopic waves  
[ DE2314904C2  (  en  ) ](/patent/DE2314904C2/en) |  1975-02-27  |
Homokinetic joint coupling  
[ DE102014209731B4  (  en  ) ](/patent/DE102014209731B4/en) |  2016-01-07  |
Steering and motor vehicle  
[ DE10060117A1  (  en  ) ](/patent/DE10060117A1/en) |  2002-07-04  |  Ball
constant velocity fixed joint as a counter track joint  
[ EP1288515B1  (  en  ) ](/patent/EP1288515B1/en) |  2004-06-30  |  Cardan
shaft coupling  
[ DE10304156B4  (  en  ) ](/patent/DE10304156B4/en) |  2011-10-20  |  Anti-
ball joint with improved cage  
[ DE2717936A1  (  en  ) ](/patent/DE2717936A1/en) |  1979-01-11  |  PTO SHAFT  
[ DE4229726C2  (  en  ) ](/patent/DE4229726C2/en) |  1996-05-23  |
Arrangement of drive shaft and slid on hub  
[ DE102004054908B4  (  en  ) ](/patent/DE102004054908B4/en) |  2016-02-25  |
Joint outer part of a constant velocity joint for a hub-joint unit  
[ WO2001063135A1  (  en  ) ](/patent/WO2001063135A1/en) |  2001-08-30  |
Component for mounting and driving a wheel
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        * [ LCL Filters ](lclfilter.html)
        * [ Sine Filters ](sinefilter.html)
        * [ dv/dt Filters ](dvdtfilter.html)
        * [ Motor Termination Units ](motorterminationunit.html)
      * [ MV Capacitor Banks ](MVcapacitorbanks.html)
      * [ Surge Capacitors ](surgecapacitors.html)
      * RC Snubber Filters 
        * [ Compact RC Snubber Filters ](compactrc.html)
        * [ Metal Enclosed RC Snubber Filters ](metalenclosedrcfilters.html)
    * [ TESTING SYSTEMS ](testingsystems.html)
      * Load Banks 
        * [ R-Series Resistive ](loadbanks-r-series.html)
        * [ L-Series Inductive ](loadbanks-l-series.html)
        * [ C-Series Combined ](loadbanks-c-series.html)
        * [ RD-Series Radiator Mounted ](loadbanks-rd-series.html)
        * [ AI-Series Anti-Islanding ](loadbanks-ai-series.html)
        * [ Accessories ](loadbanks-accessories.html)
      * [ Turn-Key Short Circuit Laboratories ](turnkeyshortcircuitlaboratories.html)
      * [ Primary Current Injection Testers ](highcurrentinjectiontestsets.html)
  * Services 
    * [ Engineering Services ](engineeringservices.html)
    * [ RC Snubber Design ](rcsnubberdesign.html)
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