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ROS measurement system integration

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 <MeasurementSystem>-element has the following additional properties:

Property name	Description	Optional
masteruri	The ip of the ROS master.	No
localhost	The ip of the networkinterface used to connecto to the ROS master. Without using it, a default value is determined automatically which can result in the wrong ip, if more than one network adapters are available.	Yes

The <TransducerUnit>-elemement has additional specific properties:

Property name	Description	Optional
timestamps	Methods to define timestamps: „fromROS“ if the timestamp from default ROS-header is used; „autoarrive“ if the timestamp when the frame arrives is used. „autofixSampleRate“ if the configurated sample rate is used	No