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Robot Raconteur Companion Library (C++)

The Robot Raconteur Companion library contains the following utilities:

  • Stand Service Definition (robdef) types
  • Yaml parsers for device info structures
  • Eigen converters

WARNING: THE STANDARD SERVICE TYPES ARE UNSTABLE AND SUBJECT TO CHANGE. DO NOT DEPLOY!

Standard Service Types Usage

The library contains compiled stardard service type thunk code. To use the standard service types without custom types, use the following in the CMake lists:

find_package(RobotRaconteurCompanion REQUIRED)
add_executable(my_program my_sources.cpp)
target_link_libraries(my_program ${OTHER_LIBRARIES} RobotRaconteurCompanion RobotRaconteurCore )

In the program initialization, use:

#include <RobotRaconteur.h>
#include "RobotRaconteurCompanion/StdRobDef/StdRobDefAll.h"

// ...

RobotRaconteur::Companion::RegisterStdRobDefServiceTypes();
RobotRaconteur::ClientNodeSetup node_setup(std::vector<ServiceFactoryPtr>()); // or use RobotRaconteur::ServiceNodeSetup

If custom service types are being used in the program, use the following:

find_package(RobotRaconteurCompanion REQUIRED)
ROBOTRACONTEUR_GENERATE_THUNK(RR_THUNK_SRCS RR_THUNK_HDRS
    experimental.my_custom_types.robdef    
    MASTER_HEADER
    IMPORT_DIRS ${CMAKE_CURRENT_SOURCE_DIR} ${RobotRaconteur_STANDARD_ROBDEF_DIRS}
    AUTO_IMPORT
)
add_executable(my_program my_sources.cpp)
target_link_libraries(my_program ${OTHER_LIBRARIES} RobotRaconteurCompanion RobotRaconteurCore ${RR_THUNK_HDRS}	${RR_THUNK_SRCS})

In the program initialization, use:

#include <RobotRaconteur.h>
#include "RobotRaconteurCompanion/StdRobDef/StdRobDefAll.h"
#include "robotraconteur_generated.h"

// ...

RobotRaconteur::Companion::RegisterStdRobDefServiceTypes();
RobotRaconteur::ClientNodeSetup node_setup(ROBOTRACONTEUR_SERVICE_TYPES); // or use RobotRaconteur::ServiceNodeSetup

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