[Discourse.ros.org] [Client Libraries/rosjava] ROS Android NDK

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[Discourse.ros.org] [Client Libraries/rosjava] ROS Android NDK

ruffsl via ros-users


Hey im not totally clear on how to use pluginlib. Say i am using move_base and want to include the plugins for costmap_2d as well as the local and global planner.
Then i have to define the lib of costmap2d and the planners in the android.mk file.
like this:
    LOCAL_WHOLE_STATIC_LIBRARIES := libcostmap_2d libbase_local_planner libglobal_planner
usually i would have defined the plugins in my yaml file like this:
    plugins:
    - {name: static_layer, type: 'costmap_2d::StaticLayer'}
    - {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
    - {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
But with rosjava i dont have the option to use yaml so i set the rosparams with the ParameterTree.set(name,value);
Do i have to define the plugins there?
I hope i made my question clear.
kind regards!





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[Discourse.ros.org] [Client Libraries/rosjava] ROS Android NDK

ruffsl via ros-users


Hi @mps2209!

You are in the right track. In rosjava kinetic, a [ParameterLoaderNode](https://github.com/rosjava/rosjava_core/blob/kinetic/rosjava_helpers/src/main/java/org/ros/helpers/ParameterLoaderNode.java) was added to rosjava, which can read from yaml files and upload the contents to the parameter server.

I suggest you to take a look at [tangobot](https://github.com/ekumenlabs/tangobot) repository; it uses the cross compiled navigation stack. You will probably find it useful.

Some places you should look at:
- [Gradle buildscript](https://github.com/ekumenlabs/tangobot/blob/master/tangobot_app/app/build.gradle)
- [Android.mk](https://github.com/ekumenlabs/tangobot/blob/master/tangobot_app/app/src/main/cpp/Android.mk)
- [MainActivity](https://github.com/ekumenlabs/tangobot/blob/master/tangobot_app/app/src/main/java/com/ekumen/tangobot/application/MainActivity.java) --> usage of ParameterLoaderNode is there.
- [Raw resources](https://github.com/ekumenlabs/tangobot/tree/master/tangobot_app/app/src/main/res/raw) with the yaml files you need to configure the plugins.

Hope it helps!





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