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Add Your Robot Type
Description: how to add your own robot type in rocon_uri rule.Keywords: rocon concert solution
Tutorial Level: BEGINNER
Next Tutorial: Make Your Robot Type Official
Goal
Rocon URI is rocon-wide unique identifier to define hardware/software specification of physical resources like robot and compatibility of rapps. This tutorial describes how to add a new robot type into rocon_uri rule set.
Rules.yaml
Rule.yaml defines ebnf rules to parse rocon uri strings. In order to use a new type of robot or device in rocon, it needs to be listed in rules.yaml.
Current rules
Note that rules.yaml is located in rocon_uri python module. The deb version is located in /opt/ros/indigo/lib/python2.7/dist-packages/rocon_uri/rules and the source version is located in rocon_uri/src/rocon_uri/rules.
Add a new type
1. Clone rocon_tools repo in your workspace
> GOTO_YOUR_WORKSPACE_SRC > git clone https://github.com/robotics-in-concert/rocon_tools > catkin_make
2. Edit rules.yaml based on its specification
> rosed rocon_uri rules.yaml
Check
The available ebnf rules can be found withe the following command. If the newly added type should be shown, it is successfully added.
> rocon_uri rules
