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state_exchanger package from swarm_functions repoarea_division battery_exchanger collision_avoidance coverage_path kinematics_exchanger roi_assignment state_exchanger swarm_functions target_monitor task_allocation |
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Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | Apache License 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/cpswarm/swarm_functions.git |
| VCS Type | git |
| VCS Version | noetic-devel |
| Last Updated | 2023-06-01 |
| Dev Status | DEVELOPED |
| 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
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
state_exchanger
This package exchanges behavioral states between multiple cyber physical systems (CPSs) in a swarm.
Dependencies
This package depends on the following message definitions: * flexbe_msgs * cpswarm_msgs
The communication between CPSs is based on the CPSwarm Communication Library.
The state that is exchanged is read from a FlexBE state machine.
Further required packages are: * roscpp
Execution
Run the launch file
roslaunch state_exchanger state_exchanger.launch
to launch the state_exchanger node.
The launch file can be configured with following parameters:
* id (integer, default: 1)
The identifier (ID) of the CPS used for name spacing in simulation.
* output (string, default: screen)
Whether to show the program output (screen) or to write it to a log file (log).
In the param subdirectory there is the parameter file state_exchanger.yaml that allows to configure the behavior of the state_exchanger node.
Nodes
state_exchanger
The state_exchanger node publishes behavioral states of this CPS to the rest of the swarm and publishes the state received from the other swarm members locally. The state is taken from a locally running FlexBE state machine. Each state is represented by a behavior ID, a checksum representing a specific version of a behavior.
Subscribed Topics
-
flexbe/status(flexbe_msgs/BEStatus) The checksum of the current state of this CPS. -
bridge/events/state(cpswarm_msgs/StateEvent) The current state of another CPS. Messages are exchanged between CPSs using the CPSwarm Communication Library.
Published Topics
-
state(cpswarm_msgs/StateEvent) The current state of this CPS that is forwarded by the CPSwarm Communication Library to the other swarm members. -
swarm_state(cpswarm_msgs/ArrayOfStates) The states of the other swarm members received through the CPSwarm Communication Library.
Parameters
-
~loop_rate(real, default:1.5) The frequency in Hz at which to run the control loops. -
~queue_size(integer, default:10) The size of the message queue used for publishing and subscribing to topics. -
~timeout(real, default:20.0) The time in seconds after which another CPS is considered to have left the swarm.
Code API
Changelog for package state_exchanger
1.1.0 (2019-10-31)
- Initial release of state_exchanger
- Contributors: Micha Sende
Wiki Tutorials
Source Tutorials
Dependant Packages
Launch files
- launch/state_exchanger.launch
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- id [default: 1]
- read_only [default: false]
- output [default: log]
Messages
Services
Plugins
Recent questions tagged state_exchanger at answers.ros.org
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state_exchanger package from swarm_functions repoarea_division coverage_path kinematics_exchanger state_exchanger swarm_functions target_monitor task_allocation |
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|
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | Apache License 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/cpswarm/swarm_functions.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2021-01-19 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
state_exchanger
This package exchanges behavioral states between multiple cyber physical systems (CPSs) in a swarm.
Dependencies
This package depends on the following message definitions: * smach_msgs * cpswarm_msgs
The communication between CPSs is based on the CPSwarm Communication Library.
The state that is exchanged is read from a SMACH state machine.
Further required packages are: * roscpp
Execution
Run the launch file
roslaunch state_exchanger state_exchanger.launch
to launch the state_exchanger node.
The launch file can be configured with following parameters:
* id (integer, default: 1)
The identifier (ID) of the CPS used for name spacing in simulation.
* output (string, default: screen)
Whether to show the program output (screen) or to write it to a log file (log).
In the param subdirectory there is the parameter file state_exchanger.yaml that allows to configure the behavior of the state_exchanger node.
Nodes
state_exchanger
The state_exchanger node publishes behavioral states of this CPS to the rest of the swarm and publishes the state received from the other swarm members locally. The state is taken from a locally running SMACH state machine. If the CPS is in multiple states, only the first one is considered.
Subscribed Topics
-
smach_server/smach/container_status(smach_msgs/SmachContainerStatus) The current state of this CPS. -
bridge/events/state(cpswarm_msgs/StateEvent) The current state of another CPS. Messages are exchanged between CPSs using the CPSwarm Communication Library.
Published Topics
-
state(cpswarm_msgs/StateEvent) The current state of this CPS that is forwarded by the CPSwarm Communication Library to the other swarm members. -
swarm_state(cpswarm_msgs/ArrayOfStates) The states of the other swarm members received through the CPSwarm Communication Library.
Parameters
-
~loop_rate(real, default:1.5) The frequency in Hz at which to run the control loops. -
~queue_size(integer, default:10) The size of the message queue used for publishing and subscribing to topics. -
~timeout(real, default:20.0) The time in seconds after which another CPS is considered to have left the swarm. -
~sm_path(string, default:/SM_TOP) The path of the smach state machine whose state shall be exchanged.
Code API
Changelog for package state_exchanger
1.1.0 (2019-10-31)
- Initial release of state_exchanger
- Contributors: Micha Sende
Wiki Tutorials
Source Tutorials
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 2 | roscpp | |
| 1 | smach_msgs | |
| 1 | cpswarm_msgs |
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| swarm_functions | github-cpswarm-swarm_functions |
Launch files
- launch/state_exchanger.launch
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- id [default: 1]
- output [default: log]