rosjava is the first pure Java implementation of ROS.

From ROS.org: ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management.

Developed at Google in cooperation with Willow Garage, rosjava enables integration of Android and ROS compatible robots. This project is under active development and currently alpha quality software. Please report bugs and feature requests on the issues list.

To get started, visit the rosjava_core and android_core pages for documentation concerning the core libraries and examples. Also visit the roswiki rosjava and android pages for more general rosjava-android information.

Still have questions? Check out the ros-users discussion list, post questions to ROS Answers with the tag “rosjava,” or join #ROS on irc.oftc.net.

rosjava was announced publicly during the Cloud Robotics tech talk at Google I/O 2011.

Looking for a robot platform to experiment with ROS, Android, and cloud robotics? The OSRF TurtleBot is a great mobile perception platform for getting started with robotics development.

Branches

The master branch reflects the latest version of rosjava. All development happens on the master branch in the form of pull requests from developers. Unless you are developing rosjava itself, you should not use the master branch.

Named branches are created whenever a new version of ROS is released. These branches are considered stable. No new features will be added to these branches, however, bug fixes may be cherry picked from master.

Pull Requests

You must sign a Contributor License Agreement (CLA) before we can accept any code. The CLA protects you and us.

• If you are an individual writing original source code and you’re sure you own the intellectual property, then you’ll need to sign an individual CLA.
• If you work for a company that wants to allow you to contribute your work to SL4A, then you’ll need to sign a corporate CLA.

Follow either of the two links above to access the appropriate CLA and instructions for how to sign and return it. Damon will respond on either github or email to confirm.

Building with Bazel

To build this project with Bazel, simply run:

bazel build //...

To depend on rosjava_core from another project, you’ll need to use bazel-deps.

1. Start by copying (or merging) [dependencies.yaml][dependencies.yaml] in to your project.
2. Follow the instructions in that file to generate the BUILD files inside your project.
3. Add the following lines to your WORKSPACE file:

load("//3rdparty:workspace.bzl", "maven_dependencies")

maven_dependencies()

git_repository(
    name = "com_github_rosjava_rosjava_core",
    commit = "{insert commit SHA for HEAD}",
    remote = "https://github.com/rosjava/rosjava_core.git",
)

load("@com_github_rosjava_rosjava_core//bazel:repositories.bzl", "rosjava_repositories")

rosjava_repositories()

You may want to use http_archive instead of git_repository for the reasons described in the Bazel docs.

You can now depend on rosjava targets (eg @com_github_rosjava_rosjava_core//rosjava) as required by your application.

Changelog

0.3.7 (2019-01-22)

• Gradle update to 4.10.2.
• Use new http_archive rule for Bazel deps.
• Contributors: Juan Ignacio Ubeira, Rodrigo Queiro

0.3.6 (2018-09-06)

• Using [time=0]{.title-ref} by default; prevents [NullPointerException]{.title-ref} when using [sim_time]{.title-ref}.
• Fix: waiting for master before getting [/use_sim_time]{.title-ref}.
• Gradle upgraded to 3.5.1.
• Added Bazel build support.
• Supporting XMLRPC multicalls - prevents ROS master from shutting down when a launchfile is launched.
• Fix for race condition in [RetryingExecutorService]{.title-ref}.
• Improved error checking and tests for [rosjava_helpers]{.title-ref}.
• Contributors: Juan Ignacio Ubeira, Rodrigo Queiro, Wojciech Mlynarczyk.

0.3.5 (2017-07-17)

• Fix remapping member variable not set if argument is not null
• Adding the capability to remove a messageListener from a subscriber.
• Avoid flooding log with error messages on NTP sync failure
• Fix to avoid logging the same error multiple times for NtpTimeProvider.
• Fix: avoid exceptions on node shutdown
• Fix to avoid spurious exceptions on node shutdown if there's an active topic.
• Contributors: Juan Ignacio Ubeira, Julian Cerruti, Perrine Aguiar

0.3.4 (2017-05-22)

• Implement parameter server's searchParam
• fixed nullptr triggered by default node factory
• Contributors: Julian Cerruti, Leroy Ruegemer

0.3.3 (2017-04-17)

• Added fix to remove Publishers and Subscribers from topicParticipantManager on node shutdown.
• Added fix to remove listeners from DefaultPublisher on shutdown.
• Contributors: Dan Ambrosio, Julian Cerruti

0.3.2 (2017-03-06)

• Adds fix for shutting down DefaultNodeMainExecutor ListenerGroup to prevent leak in android when activities are destroyed.
• Added ability to remove listener from ListenerGroup to fix android_core issue #254.

0.3.1 (2017-02-22)

• NativeNodeMain upgraded to upstream error codes to the application.
• Parameter Node added to new Helper module.
• publishMavenJavaPublicationToMavenRepository -> publish
• Gradle 2.2.1 -> 2.14.1
• Contributors: Juan Ignacio Ubeira, Julian Cerruti

0.3.0 (2016-12-13)

• Updates for Kinetic release.
• NativeNodeMain for C++ node integration.

0.2.1 (2015-02-25)

• allow setting of the talker topic name in pubsub tutorial.
• A more robust ntp provider.
• gradle 1.12 -> 2.2.1
• Add a comment explaining the disabling of SNI.
• Fix SSL connection errors with Java 1.7.
• Adds APIs to check the status of a service connection. Fixes bug that caused a disconnected service to be reused. Fixes bug in DefaultSubscriber that used the wrong class for logging.
• Changes FrameTransformTree to use GraphName instead of FrameName but still support tf2.
• Removed listAllInetAddress private method. Also renamed getAllInetAddressByName to getAllInetAddressesByName.
• Adds newNonLoopbackForNetworkInterface This is needed to allow the user to specify the ROS Hostname. An example application can: Run the ROS application through a VPN connection. The user would like to use the tunnel interface to creates the nodes and master.
• Contributors: Damon Kohler, Daniel Stonier, Lucas Chiesa, corot, damonkohler

0.1.6 (2013-11-01)

• Constrain open ranged dependencies.

0.1.5 (2013-10-31)

• use ROS_MAVEN_REPOSITORY

0.1.4 (2013-10-25)

• official maven style open ended dependencies.

0.1.3 (2013-09-23)

• use updated ros gradle plugins with maven-publish for publishing.

0.1.2 (2013-09-17)

• missing sensor_msgs dependency added.
• gradle wrapper -> 1.7

0.1.1 (2013-09-13)

• first official hydro release
• tf_msgs -> tf2_msgs upgrade
• fix hydro transform issues (frame naming policy)
• message generation code moved out
• message generation moved out
• using gradle plugins to eliminate copied build logic
• uses the github rosjava/rosjava_maven_repo for pulling external dependencies
• uses local maven repositories embedded in the ros workspaces (share/maven)
• cmake installation rules - deb building starting
• test_ros messages -> rosjava_test_msgs