JDAQ

The ROS-integration is based on rosjava. Connections to one or more running ROS systems are possible. The master uri of a ros system has to be configured as property of the measurement system configuration as follow:

<?xml version="1.0" encoding="iso-8859-1" ?>
 
<MeasurementProcess name="Upperlimb Measurement">
   <MeasurementSystem id="default" system="ROS" fileSuffix="r3d">
            <Property name="localhost" value="192.168.10.100"/>
            <Property name="masteruri" value="http://192.168.10.2:11311"/>
            <TransducerUnitGroup name="vicon/RightHumerus" displayName="RightHumerus">
                <TransducerUnit name="RightHumerus" displayName="RightHumerus" sampleRate="120">
                ...
            ...
    ...
</MeasurementProcess>            

The usage of the property localhost is optional. Without using it the a default value is detected automatically. If more than one network cards are availble it can happen that the localhost ip is not the one used to connect the ROS system.