dsr_bridge

dsr_bridge

Overview

This package provides a communication bridge between two instances of the Deep Space Representation (DSR) using ROS 2. The bridge is able to capture the signals from the DSR, create the corresponding nodes / edges messages and publish them through ROS 2. The other side of the bridge is able to receive the nodes / edges messages and create the corresponding nodes / edges in the DSR.

Usage

To use this package, first modify the default_params.yaml file located in the params directory to set the source option for the robot side and the other side.

Launch the bridge in the robot side using the following command:

ros2 launch dsr_bridge dsr_bridge_robot.launch.py

Launch the bridge in the other side using the following command:

ros2 launch dsr_bridge dsr_bridge_nuc.launch.py

Nodes

dsr_bridge

Node that receives the messages from the DSR side and creates the corresponding nodes in the ROS.

Subscribed / Published Topics

• nodes

  Topic where the nodes from the DSR are received / published.

• edges

  Topic where the edges from the DSR are received / published.

Parameters

• include_nodes (string, default: "")

  Comma separated list of nodes to be sent to the other DSR bridge.

• exclude_nodes (string, default: "")

  Comma separated list of nodes to be excluded from the nodes to be sent to the other DSR bridge.

Parameters (common for all agents)

• agent_name (string, default: "")

  The name of the agent that will be used.

• agent_id (int, default: 0)

  A unique identifier for the agent.

• dsr_input_file (string, default: "") (Optional)

  The path to the DSR file that will be loaded.

• source (string, default: "robot")

  The source of the nodes / edges.

Future work

• Convert nodes to LifeCycleNodes.
• Store the edges if the nodes are not available. and re-send them when the nodes are available.
• Add filtering options for the nodes / edges.
• Add resync function.