# Is there any plan for ROS support

**URL:** <https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59>\
**Category:** development\
**Tags:** ros\
**Created:** [February 15, 2023, 5:47pm UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59 "2023-02-15T17:47:12Z")\
**Posts on this page:** 12\
**Page:** 1

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**Author:** ![srini](https://avatars.discourse-cdn.com/v4/letter/s/e9bcb4/32.png) [@srini](https://discourse.farm-ng.com/u/srini)\
**Post date:** [February 15, 2023, 5:47pm UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/1 "2023-02-15T17:47:12Z")

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Is there any plan for supporting ROS based development? If yes, do you know when it will be available?

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**Author:** ![edgarriba](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/edgarriba/32/6_2.png) [@edgarriba](https://discourse.farm-ng.com/u/edgarriba)\
**Post date:** [February 17, 2023, 10:03pm UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/2 "2023-02-17T22:03:11Z")

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hi @srini ! We don’t have ROS support yet but we’ll be pretty happy to do so under a amiga\_ros\_bridge repository or similar. I guess since ROS is a large dependency, we should first target a specific version of ROS to target this support. @chris can give also some instructions about how to upgrade with the dependencies.

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**Author:** ![shrijits](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/shrijits/32/44_2.png) [@shrijits](https://discourse.farm-ng.com/u/shrijits)\
**Post date:** [February 23, 2023, 2:28pm UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/3 "2023-02-23T14:28:31Z")

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For ROS 1, since the brain is loaded with Ubuntu 18 then the only compatible ROS version would be Melodic. So I would say that version should be targeted.

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**Author:** ![edgarriba](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/edgarriba/32/6_2.png) [@edgarriba](https://discourse.farm-ng.com/u/edgarriba)\
**Post date:** [February 28, 2023, 11:00am UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/4 "2023-02-28T11:00:06Z")

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@shrijits The initial plan is to provide a container with Ubuntu 20.04 + ROS2 container. We target to release something like `farm-ng-ros-bridge` by next week, so we’ll make an update soon.

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**Author:** ![hauke](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/hauke/32/26_2.png) [@hauke](https://discourse.farm-ng.com/u/hauke)\
**Post date:** [March 7, 2023, 8:53pm UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/5 "2023-03-07T20:53:01Z")

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Hi all,

We made some good progress on experimental ROS support. We plan to release a small ROS bridge as a static binary to bridge the Amiga gRPC service to corresponding ROS publisher/service. To begin with, we are targeting ROS1. We aim to support ROS noetic through a 20.04 docker image (but might need to fall back to melodic if we run into unexpected issues).  
The initial version will purely focus on sending of (linear, angular) velocity commands and as well as a streaming API for (linear, angular) velocity states.

This Friday, March 10, we plan to make the corresponding github repository public and to share this highly experimental prototype with the community for feedback. We don’t know yet when the bridge will be fully functional, not to mention a stable API.

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**Author:** ![hauke](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/hauke/32/26_2.png) [@hauke](https://discourse.farm-ng.com/u/hauke)\
**Post date:** [March 12, 2023, 5:57am UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/6 "2023-03-12T05:57:38Z")

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> **[GitHub - farm-ng/amiga-ros-bridge](https://github.com/farm-ng/amiga-ros-bridge)**
>
> Contribute to farm-ng/amiga-ros-bridge development by creating an account on GitHub.

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**Author:** ![kylecoble](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/kylecoble/32/12_2.png) [@kylecoble](https://discourse.farm-ng.com/u/kylecoble)\
**Post date:** [March 14, 2023, 8:20pm UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/7 "2023-03-14T20:20:38Z")

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Hi all,

The experimental ROS bridge is ready for you to start using on your development stations (your laptop or desktop computer) with ROS Noetic installed. The current state is that you will manually launch a mock Amiga canbus service that echos back the commands you sent as measured values.

Current usage instructions are to publish [`Twist`](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Twist.html) commands on the `/amiga/cmd_vel` topic to drive the Amiga and subscribe to [`TwistStamped`](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/TwistStamped.html) measured rates on the `/amiga/vel` topic. Full instructions are available in the [`amiga-ros-bridge` README](https://github.com/farm-ng/amiga-ros-bridge#readme).

This is still experimental and evolving, so keep an eye on the [`amiga-ros-bridge` README](https://github.com/farm-ng/amiga-ros-bridge#readme) for the latest instructions / details.

Coming later this week: A docker container with the ROS bridge running on the Amiga brain so you can actually drive your Amiga (to replace the mock service).

Let us know here what questions you have.

– Kyle

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**Author:** ![chris](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/chris/32/35_2.png) [@chris](https://discourse.farm-ng.com/u/chris)\
**Post date:** [March 22, 2023, 5:36pm UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/8 "2023-03-22T17:36:23Z")

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The ROS container is now available: [ROS Noetic & Pytorch Container Now Available](https://discourse.farm-ng.com/t/ros-noetic-pytorch-container-now-available/122)

Short instructions: SSH to the Amiga and run the following curl command:

```auto
curl -v 100.85.53.61:8192/enable/ros-bridge-container

```

Live Stream reviewing the ROS Bridge is available here: [Redirecting](https://www.google.com/url?q=https://www.youtube.com/watch?v%3Dk7rIpSrkeA4&sa=D&source=calendar&ust=1679938540456194&usg=AOvVaw354jMohxQPj14L8cQNAmoM)

– Chris

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**Author:** ![rvinson](https://avatars.discourse-cdn.com/v4/letter/r/a4c791/32.png) [@rvinson](https://discourse.farm-ng.com/u/rvinson)\
**Post date:** [September 12, 2023, 8:21pm UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/9 "2023-09-12T20:21:04Z")

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Earlier in the thread there was talk of supporting ros2 as well. Is this still planned?  
Thanks for the help!

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**Author:** ![kylecoble](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/kylecoble/32/12_2.png) [@kylecoble](https://discourse.farm-ng.com/u/kylecoble)\
**Post date:** [September 13, 2023, 4:44pm UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/10 "2023-09-13T16:44:32Z")

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Hello @rvinson,

There is no immediate plan for ROS2 support. Is this question exploratory or a more definite need for your development?

– Kyle

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**Author:** ![rvinson](https://avatars.discourse-cdn.com/v4/letter/r/a4c791/32.png) [@rvinson](https://discourse.farm-ng.com/u/rvinson)\
**Post date:** [September 13, 2023, 6:01pm UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/11 "2023-09-13T18:01:04Z")

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It’s more exploratory, we have a ros2 project build in foxy and we where hoping to integrate with a farm-ng platform. I believe we still have a path using ros1\_bridge, it just adds a bit more complexity I was hoping to not need to add to the scope.

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<div class="post-metadata">

**Author:** ![kylecoble](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/kylecoble/32/12_2.png) [@kylecoble](https://discourse.farm-ng.com/u/kylecoble)\
**Post date:** [September 14, 2023, 12:23am UTC](https://discourse.farm-ng.com/t/is-there-any-plan-for-ros-support/59/12 "2023-09-14T00:23:17Z")

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OK, understood. You should plan on the ros1\_bridge for the time being. If anything changes, we will be sure to update here.

– Kyle