naoqi_libqi
Aldebaran’s libqi: a core library for NAOqiOS development
Links
README
ROS 2 port for libQi
libQi is a C++ middleware that provides RPC, type-erasure, cross-language interoperability, OS abstractions, logging facilities, asynchronous task management, dynamic module loading.
Compilation
Clone this project in your ROS 2 workspace (under src/
),
and run colcon build
.
C++ Example
The following example shows some features of the framework, please refer to the documentation for further details.
#include <boost/make_shared.hpp>
#include <qi/log.hpp>
#include <qi/applicationsession.hpp>
#include <qi/anyobject.hpp>
qiLogCategory("myapplication");
class MyService
{
public:
void myFunction(int val) {
qiLogInfo() << "myFunction called with " << val;
}
qi::Signal<int> eventTriggered;
qi::Property<float> angle;
};
// register the service to the type-system
QI_REGISTER_OBJECT(MyService, myFunction, eventTriggered, angle);
void print()
{
qiLogInfo() << "print was called";
}
int main(int argc, char* argv[])
{
qi::ApplicationSession app(argc, argv);
// connect the session included in the app
app.start();
qi::SessionPtr session = app.session();
// register our service
session->registerService("MyService", boost::make_shared<MyService>());
// get our service through the middleware
qi::AnyObject obj = session->service("MyService").value();
// call myFunction
obj.call<void>("myFunction", 42);
// call print in 2 seconds
qi::async(&print, qi::Seconds(2));
// block until ctrl-c
app.run();
}
You can then run the program with:
./myservice --qi-standalone # for a standalone server
./myservice --qi-url tcp://somemachine:9559 # to connect to another galaxy of sessions
Links
Upstream repository: http://github.com/aldebaran/libqi
Documentation: http://doc.aldebaran.com/libqi/
IRC Channel: #qi on freenode.
Upstream Maintainers:
Joël Lamotte jlamotte@aldebaran.com
Jérémy Monnon jmonnon@aldebaran.com
Matthieu Paindavoine matthieu.paindavoine@softbankrobotics.com
Vincent Palancher vincent.palancher@external.softbankrobotics.com
See the package.xml
for the ROS 2 maintainers.