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ground_dds_ros_bridge package from astrobee repo

astrobee arm dock light_flow perch states comms_bridge dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs ground_dds_ros_bridge description ctl fam pmc eps_driver epson_imu fam_cmd_i2c ff_serial flashlight gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry factor_adders graph_factors graph_localizer graph_optimizer graph_vio ground_truth_localizer handrail_detect imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking node_adders nodes optimization_common optimizers parameter_reader point_cloud_common ros_graph_localizer ros_graph_vio ros_pose_extrapolator sliding_window_graph_optimizer sparse_mapping tutorial_examples vision_common vive_localization access_control cpu_mem_monitor data_bagger disk_monitor executive image_sampler log_monitor sys_monitor choreographer framestore mapper mobility planner_qp traj_opt_basic traj_opt_msgs traj_opt_pro traj_opt_ros planner_trapezoidal config_reader ff_common ff_util jsonloader msg_conversions astrobee_gazebo bag_processing calibration gds_helper gnc_visualizer interactive_marker_teleop localization_analysis localization_rviz_plugins performance_tester

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-07-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The ground_dds_ros_bridge package provides a bridge between dds messages and ros messages

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
communications/ground_dds_ros_bridge/readme.md

\page ground_dds_ros_bridge Ground DDS ROS Bridge

The ground DDS ROS bridge acts like a translator between DDS and ROS. It listensto DDS telemetry coming from the robot and converts it to ROS messages. Currently it only supports converting the access control state, guest science data, dock camera compressed image, navigation camera compressed image, science camera compressed image, and the robot position messages. It also converts messages published on the ros command topic to a dds command and publishes them on the dds command topic. Please note that as of now, the ground dds ros bridge can only connect to one robot.

The ground bridge will need to be configured for your specific situation. Please see the next section for more information.

Configuration

The ground dds ros bridge config file can be found here:

$ASTROBEE_WS/src/astrobee/config/communications/ground_dds_ros_bridge.config

The following sections explain what may need to be changed in the file.

Connecting Robot

The ground bridge needs to know the name of the robot you want to connect to. The default is Bumble. If you need to change this, please open the config file and find the connecting_robot variable. Please change it to the name of the robot you wish to connect to. Make sure to capitalize the first letter of the name.

Domain id

The domain id for simulation is 37 and this is default value. If you need the space domain id for use during an activity, please ask your Astrobee point of contactor.

Namespace

If you are running the ground bridge in simulation, you will probably want to use the namespace feature. When set to true, the ground bridge will publish messages received over DDS to ros using the robot name as the namespace. This will allow you to distigush topics/messages published by the core flight software versus topics/messages published by the ground bridge. By default, it is set to false.

Running the Ground DDS ROS Bridge

The ground bridge is not run by default in simulation. To run it, you’ll need to set the ASTROBEE_CONFIG_DIR environment variable. In a terminal with the astrobee setup sourced, run:

ASTROBEE_CONFIG_DIR=$ASTROBEE_WS/src/astrobee/config/ rosrun ground_dds_ros_bridge ground_dds_ros_bridge_node

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
cmake_modules
message_generation
ff_msgs
ff_util
nav_msgs
roscpp
rossmbus
std_msgs
nodelet
dds_msgs
catkin
message_runtime

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ground_dds_ros_bridge at Robotics Stack Exchange

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ground_dds_ros_bridge package from astrobee repo

astrobee arm dock light_flow perch states comms_bridge dds_msgs dds_ros_bridge ff_hw_msgs ff_msgs ground_dds_ros_bridge description ctl fam pmc eps_driver epson_imu fam_cmd_i2c ff_serial flashlight gpio i2c is_camera laser perching_arm pico_driver pmc_actuator signal_lights smart_dock speed_cam temp_monitor vive camera depth_odometry factor_adders graph_factors graph_localizer graph_optimizer graph_vio ground_truth_localizer handrail_detect imu_integration interest_point lk_optical_flow localization_common localization_manager localization_measurements localization_node marker_tracking node_adders nodes optimization_common optimizers parameter_reader point_cloud_common ros_graph_localizer ros_graph_vio ros_pose_extrapolator sliding_window_graph_optimizer sparse_mapping tutorial_examples vision_common vive_localization access_control cpu_mem_monitor data_bagger disk_monitor executive image_sampler log_monitor sys_monitor choreographer framestore mapper mobility planner_qp traj_opt_basic traj_opt_msgs traj_opt_pro traj_opt_ros planner_trapezoidal config_reader ff_common ff_util jsonloader msg_conversions astrobee_gazebo bag_processing calibration gds_helper gnc_visualizer interactive_marker_teleop localization_analysis localization_rviz_plugins performance_tester

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 0.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-07-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The ground_dds_ros_bridge package provides a bridge between dds messages and ros messages

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software
communications/ground_dds_ros_bridge/readme.md

\page ground_dds_ros_bridge Ground DDS ROS Bridge

The ground DDS ROS bridge acts like a translator between DDS and ROS. It listensto DDS telemetry coming from the robot and converts it to ROS messages. Currently it only supports converting the access control state, guest science data, dock camera compressed image, navigation camera compressed image, science camera compressed image, and the robot position messages. It also converts messages published on the ros command topic to a dds command and publishes them on the dds command topic. Please note that as of now, the ground dds ros bridge can only connect to one robot.

The ground bridge will need to be configured for your specific situation. Please see the next section for more information.

Configuration

The ground dds ros bridge config file can be found here:

$ASTROBEE_WS/src/astrobee/config/communications/ground_dds_ros_bridge.config

The following sections explain what may need to be changed in the file.

Connecting Robot

The ground bridge needs to know the name of the robot you want to connect to. The default is Bumble. If you need to change this, please open the config file and find the connecting_robot variable. Please change it to the name of the robot you wish to connect to. Make sure to capitalize the first letter of the name.

Domain id

The domain id for simulation is 37 and this is default value. If you need the space domain id for use during an activity, please ask your Astrobee point of contactor.

Namespace

If you are running the ground bridge in simulation, you will probably want to use the namespace feature. When set to true, the ground bridge will publish messages received over DDS to ros using the robot name as the namespace. This will allow you to distigush topics/messages published by the core flight software versus topics/messages published by the ground bridge. By default, it is set to false.

Running the Ground DDS ROS Bridge

The ground bridge is not run by default in simulation. To run it, you’ll need to set the ASTROBEE_CONFIG_DIR environment variable. In a terminal with the astrobee setup sourced, run:

ASTROBEE_CONFIG_DIR=$ASTROBEE_WS/src/astrobee/config/ rosrun ground_dds_ros_bridge ground_dds_ros_bridge_node

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
cmake_modules
message_generation
ff_msgs
ff_util
nav_msgs
roscpp
rossmbus
std_msgs
nodelet
dds_msgs
catkin
message_runtime

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged ground_dds_ros_bridge at Robotics Stack Exchange