An extension to connect Scratch 3 to ROS enabled platforms!
Supports:
- publishing and subscribing topics
- calling services
- getting and setting rosparam variables
This extension packs with utility blocks for creating and manipulating JSON objects, which are integrated to Scratch variables and used to represent ROS messages.
When communicating with the ROS interface, message types are mostly infered by the topic or service name, being occluded from the user. This way the user do not need to worry that much about types, allowing easier and more intuitive usage of this extension.
This also means, however, that this extension doesn't do well in advertising new topics or serving services. Maybe these will be supported in future releases, but for now Scratch interface is designed to act as a ROS client, publishing to topics and called nodes already advertised by some other node, which should be responsible to handle the message from Scratch and do all of the robotics stuff.
- Install ROS and the following dependencies. This project was tested on ROS1 (kinetic, melodic, noetic).
# Install main dependencies
sudo apt install ros-kinetic-rosbridge-server
# Install examples dependencies
sudo apt install ros-kinetic-turtlesim ros-kinetic-actionlib-tutorials -
Access http://www.scratch3ros.com . The extension currently doesn't support https access!
-
Open a terminal and fire up the following command
roslaunch rosbridge_server rosbridge_websocket.launch
- Add the
ROS Extensionfrom the bottom left button and inputlocalhostas the master URI
Examples can be found at the examples directory. To run the examples:
- On a terminal, launch
roslaunch rosbridge_server rosbridge_websocket.launch - Access http://www.scratch3ros.com/ and load the example file
- Use
localhostas the master URI. If a warning sign appears near the ROS blocks, click it to reconnect.
- Check comments for other required nodes
- Click the green flag to start!
Simple chatter:
Simple actionlib client:
Turtlesim:
For more details, check out our Project Page!