Frameworks in Ubuntu Core

[Ted Gould]

On Tue, 2015-10-20 at 14:31 +0000, Gianluca Bardaro wrote:
> I'm trying to use ROS in Ubuntu Core. I know there are already some
> implementations, but I want to follow a slightly different approach.
> 
> My aim is to create a framework for the main features of ROS and
> independent snaps for one or multiple nodes.
> 
> The point is: I don't understand exactly what a framework can do.
> 
> Can I use libs included inside an hypothetical ROS framework (i.e.
> libroscpp.so) in a snap? If so, how can I do that?


Probably the best way to think about a framework is a service,
specifically a service that shares a resource between multiple
applications. So if you've got a service that doesn't need to talk to
multiple snaps, an app snap works perfectly well. It doesn't export
files to an application, just an IPC interface, so sharing libraries
isn't really possible. Libraries should be included in the applications
that are connecting to it.

So then specifically to what you're talking about, libroscpp.so would
exist both in the ROS framework and the applications. It could be
different versions (an app may need a specific patch).

I'm a little curious why you want to put the ROS services in to a
framework. We've definitely looked at that, but weren't sure of all the
use-cases involved, so I'd love to learn more about what you're
thinking.

Ted

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