Grasshopper - ROS Communication

This repository contains examples for bridging data between Grasshopper and ROS.

• using compass fab
  • turtlesim
    • twist publisher
    • pose subcriber
  • pose and pose array publisher
  • pointcloud subscriber (and joint state subscriber)
• YAML file writer: writes list of poses to a yaml file that can be parsed in ROS

COMPAS FAB installation

Pre-requisites:

• Python 3.8 or similar (and pip)
• Rhino 7.0
• Microsoft Visual C++ Build Tools: Make sure to include the "Desktop development with C++" workload. After installing the build tools, restart your computer to ensure that the changes take effect.

See COMPAS FAB installation instructions here. In summary:

pip install compas_fab

python -m compas_rhino.install

If you are working with point clouds, I highly recommend you to install Volvox and Tarsier grasshopper plug-ins.

Rosbridge installation and usage

Installation:

sudo apt install ros-noetic-rosbridge-suite

Usage:

roslaunch rosbridge_server rosbridge_websocket.launch

If you are following the steps in software_II_project, rosbridge suite is already included in the docker container.