Changes between Version 40 and Version 41 of MiddleWareConnection


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Timestamp:
10/28/12 20:58:33 (7 years ago)
Author:
welberge
Comment:

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  • MiddleWareConnection

    v40 v41  
    66In this example I will show how to connect !AsapRealizer to a Behavior Planner using messages over the [https://code.cor-lab.de/projects/rsb Robotic Service Bus]. To this end, two rsb adapters will be created. The RsbToBMLRealizerAdapter translates Rsb BML messages into BML commands for the BMLRealizerPort and submits feedback from the BMLRealizerPort over rsb. The BMLRealizerToRsbAdapter acts as an RealizerPort. It passes BML commands to the rsb and translates BML feedback from rsb into feedback for listeners registered to it. 
    77[[Image(rsbadapters.png)]] 
     8 
     9=== RSB setup === 
     10RSB requires a running [http://www.spread.org/ spread] daemon. Start it with 
     11{{{ 
     12spread -n localhost 
     13}}} 
     14 
    815=== Defining the rsb scopes === 
    916Rsb messages travel through channels called 'scopes'. For our purposes we define two scopes, one for BML and one for BML feedback: