Writing code to talk to ROS topics

While you can configure conventional YARP ports to talk to ROS topics (see Use ROS with existing YARP programs), YARP provides specialized classes that simplify this task:

• yarp::os::Node: a class to create a ROS node.
• yarp::os::Subscriber: a class to subscribe to a topic.
• yarp::os::Publisher: a class to publish to a topic.

An important thing to keep in mind is that YARP needs to be aware of ROS types. If you are writing new code it is easy to generate ROS compatible YARP data types starting.

For example the following code shows how to write a program that listen to the /chatter topic. In this case we use the ROS type std_msgs/String.

The first thing to do is to generate a YARP compatible type for std_msgs/String:

$ yarpidl_rosmsg String

This will produce the file yarp/rosmsg/String.h which can be used directly in our YARP program.

Type the following code in a file, e.g. listener.cpp:

/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>
#include <yarp/os/Network.h>
#include <yarp/os/Node.h>
#include <yarp/os/Subscriber.h>
 
#include <yarp/rosmsg/std_msgs/String.h>
 
using yarp::os::Network;
using yarp::os::Node;
using yarp::os::Subscriber;
 
namespace {
YARP_LOG_COMPONENT(LISTENER, "yarp.example.ros.listener")
}
 
 
int main(int argc, char* argv[])
{
    YARP_UNUSED(argc);
    YARP_UNUSED(argv);
 
    Network yarp;
 
    /* creates a node called /yarp/listener */
    Node node("/yarp/listener");
 
    /* subscribe to topic chatter */
    yarp::os::Subscriber<yarp::rosmsg::std_msgs::String> subscriber;
    if (!subscriber.topic("/chatter")) {
        yCError(LISTENER) << "Failed to subscriber to /chatter";
        return -1;
    }
 
    /* read data from the topic */
    while (true) {
        yarp::rosmsg::std_msgs::String data;
        subscriber.read(data);
        yCInfo(LISTENER) << "Received:" << data.data;
    }
 
    return 0;
}

An example CMakeLists.txt file to compile this code would be:

cmake_minimum_required(VERSION 3.12)
find_package(YARP COMPONENTS os REQUIRED)
add_executable(listener)
target_sources(listener PRIVATE listener.cpp)
target_link_libraries(listener PRIVATE YARP::YARP_os
                                       YARP::YARP_init)

You can now publish the string "Hello World" to the topic /chatter using ROS:

rostopic pub /chatter std_msgs/String "hello yarp" --r 10

and listen to it using the YARP program above:

./listener

yarp: Port /yarp/listener active at tcp://192.168.152.130:10002
yarp: Port /chatter-@/yarp/listener active at tcp://192.168.152.130:10003
yarp: Receiving input from /rostopic_36275_1464212662655 to /chatter-@/yarp/listener using tcpros+role.pub+topic./chatter
Received:hello yarp
Received:hello yarp
Received:hello yarp
...

You can verify the existence of a node called /yarp/listener by running:

rosnode list

/rosout
/yarp/listener

We can now write our own publisher using YARP. The code is quite simple, type it in a file, e.g. talker.cpp:

/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>
#include <yarp/os/Network.h>
#include <yarp/os/Node.h>
#include <yarp/os/Publisher.h>
#include <yarp/os/Time.h>
 
#include <yarp/rosmsg/std_msgs/String.h>
 
using yarp::os::Network;
using yarp::os::Node;
using yarp::os::Publisher;
 
namespace {
YARP_LOG_COMPONENT(TALKER, "yarp.example.ros.talker")
constexpr double loop_delay = 0.1;
}
 
int main(int argc, char* argv[])
{
    YARP_UNUSED(argc);
    YARP_UNUSED(argv);
 
    Network yarp;
 
    /* creates a node called /yarp/talker */
    Node node("/yarp/talker");
 
    /* subscribe to topic chatter */
    yarp::os::Publisher<yarp::rosmsg::std_msgs::String> publisher;
    if (!publisher.topic("/chatter")) {
        yCError(TALKER) << "Failed to create publisher to /chatter";
        return -1;
    }
 
    while (true) {
        /* prepare some data */
        yarp::rosmsg::std_msgs::String data;
        data.data = "Hello from YARP";
 
        /* publish it to the topic */
        publisher.write(data);
 
        /* wait some time to avoid flooding with messages */
        yarp::os::Time::delay(loop_delay);
    }
 
    return 0;
}

an example CMakeLists.txt file to compile this code would be:

cmake_minimum_required(VERSION 3.12)
find_package(YARP COMPONENTS os REQUIRED)
add_executable(talker)
target_sources(talker PRIVATE talker.cpp)
target_link_libraries(talker PRIVATE YARP::YARP_os
                                     YARP::YARP_init)

We can run this code on a terminal:

./talker

yarp: Port /yarp/talker active at tcp://192.168.152.130:10004
yarp: Port /chatter+@/yarp/talker active at tcp://192.168.152.130:10006
yarp: Sending output from /chatter+@/yarp/talker to /listener using tcpros
yarp: Removing output from /chatter+@/yarp/talker to /listener

You can verify the existence of a node called /yarp/talker and topic /chatter by running:

rosnode list

/rosout
/yarp/talker

rostopic list

/chatter
/rosout
/rosout_agg

And see the output using the listener from ros tutorials:

rosrun roscpp_tutorials listener

[ INFO] [1464213813.965287858]: I heard: [Hello from YARP]
[ INFO] [1464213814.066799996]: I heard: [Hello from YARP]
[ INFO] [1464213814.169264100]: I heard: [Hello from YARP]
[ INFO] [1464213814.271588965]: I heard: [Hello from YARP]
[ INFO] [1464213814.373758392]: I heard: [Hello from YARP]
...

The following tutorials show how to write your own data type using ROS syntax:

• ROS Types in YARP: writing a portable
• ROS Types in YARP: sending data to ROS