ROScFE project

This repository is a collection of libraries and tools which enable to implement Robot Operating System (ROS) nodes into core Flight Executives (cFE). cFE is a core component of NASA-supplied spacecraft software, Core Flight System (CFS).

This project provides the following 3 components,

• CFS converter
• ROS/cFE interface library
• ROS/cFE network bridge

License

This project is under the Apache 2.0 license. See LICENSE.txt.

Release Notes

• ROScFE project suite 1.0.0 is released.

Directory List

• cfs_converter:
  The Convertor that translates ROS nodes into CFS apps.
• convert_lib:
  The library that is built with converted ROS nodes in CFS. This library provides the fundamental functions required from converted ROS nodes.
• sample_pub:
  Sample ROS publisher node used for conversion test.
• sample_sub:
  Sample ROS subscriber node used for conversion test.
• hk_pub:
  Sample ROS publisher node communicating with HK app.
• hk_sub:
  Sample ROS subscriber node communicating with HK app.

Dependency

• CFS

  • cFE 6.5.0

  • OSAL 4.2.1a

  • HK App 2.4.1

• For build on linux

  • ROS Kinetic
  • gcc-multilib
  • g++-multilib
  • build-essential
  • libc-dev-i386
  • libstdc++6-4.7-dev:i386
  • Python 3.6+
    • pyyaml

Setup on Linux

• Prerequisite: ROS kinetic is installed.

• Clone this repository.

  cd [your working directory]  
  git clone [repository URL]
  

• Get cFE and OSAL source and extract them on your working directory.

  tar -zxf cFE-6.5.0-OSS-release.tar.gz -C [your working directory]
  tar -zxf osal-4.2.1a-release.tar.gz -C [your working directory]
  

• Move extracted OSAL directory into the cFE directory as "osal" directory.

  cd [your working directory]  
  cp -pr osal-4.2.1a-release/* cFE-6.5.0-OSS-release/osal/
  

• Change directory to cfs_converter/.

  cd roscfe/cfs_converter
  

• Edit "config.ini" according to your environment.
  [optional] Set "create_relay_flag" to 1 if ROS/cFE network bridge is used.

  ...  
  cfe_path=[your working directory]/cFE-6.5.0-OSS-release/apps  
  ...  
  ros_path=[your catkin workspace]/src  
  ...  
  create_relay_flag=1     ; =1 : when ROS/cFE network bridge is used  
  ...  
  

• Add your ROS package path, launch file name, and ROS node name activated from launch file into "convert_list.txt".
  Ex) If your ROS workspace is as follows,

  catkin_ws  
      └─src  
         └─my_ros_package  
            ├─launch  
            |   └─bringup.launch  
            └─src  
            |   └─XXX.cpp  
            └─include  
                └─YYY.h  
  

  then edit "convert_list.txt" as follows.

  # [ros_pkg path] [launch file name] [name of launch node(*)]  
  /home/test_user/catkin_ws/src/my_ros_package bringup.launch my_node   
  
  # OR  
  /home/test_user/catkin_ws/src/my_ros_package
  

  (*) [name of launch node] must be equal to the value of 'name' attribute in launch file.

• [optional] If you want to use ROS/cFE network bridge, edit "relay_base/relay_node_base/launch/Connection.launch". Available parameters are as follows.

  • protocol：tcp/udp
  • port：port-number for receiving messages
  • port_send：destination's port-number for sending messages
  • ip_addr：IP address of destination
  • ring_length：buffer size for receiving messages

• [optional] If you want to use ROS/cFE network bridge, edit "relay_base/relay_node_base/launch/MsgId2Topic.launch". Available parameters are as follows.

  • topic：topic name published/subscribed by "ros_relay_node"
  • ros_data_type：ROS message type
  • msg_id：cFE message id used for publication/subscription on "cfe_relay_app"
  • cfe_data_type：cFE data type
  • sender：=0 when ROS-->cFE / =1 when cFE-->ROS

• Add execution authority to "start_cfs_converter.sh", run it.

  chmod +x start_cfs_converter.sh  
  ./start_cfs_converter.sh
  

  "start_cfs_converter.sh" generates

  • "converted ROS node" at the path specified by cfe_path in "config.ini"
  • [optional] "ros_relay_node" at the path specified by ros_path in "config.ini"
  • [optional] "cfe_relay_app" at the path specified by cfe_path in "config.ini"

• Copy convert_lib directory into apps directory of cFE.

  cp -pr [your working directory]/roscfe/convert_lib [your working directory]/cFE-6.5.0-OSS-release/apps/ 
  

• Move to the directory including "Makefile" at "converted ROS node" in cFE.

  cd [your working directory]/cFE-6.5.0-OSS-release/apps/["converted ROS node"]/fsw/for_build/
  

  Modify "OBJS" and ".cpp.o" fields in "Makefile". Ex)

  OBJS = my_node.o /usr/lib/i386-linux-gnu/libstdc++.so.6
  

  .cpp.o:  
      $(COMPILER) $(LOCAL_COPTS) -std=c++11 -m32 -Wall $(INCLUDE_PATH) -g -O0 -DOS_DEBUG_LEVEL=$(DEBUG_LEVEL) -c -o my_node [cpp file path] 
  

• Move to the directory including "Makefile" at cFE build directory.

  cd [your working directory]/cFE-6.5.0-OSS-release/build/cpu1/Makefile
  

  Modify "THE_APPS" as follows,

  THE_APPS := convert_lib ["converted ROS node" DIRECTORY NAME]
  

  [optional] If you build "cfe_relay_app", add it into "THE_APPS"

  THE_APPS := convert_lib relay_app ["converted ROS node" DIRECTORY NAME]
  

• Move to the directory including "cfe_es_startup.scr".

  cd [your working directory]/cFE-6.5.0-OSS-release/build/cpu1/exe/cfe_es_startup.scr
  

  Add the activation-setting-line for "converted ROS node".
  Ex)

  CFE_LIB, /cf/apps/convert_lib.so,   CONVERT_LibInit,CONVERT_LIB,  0,   0,    0x0, 0;
  CFE_APP, /cf/apps/["converted ROS node" directory name].so, [ENTRY_PT(*)],[name of app], [priority(**)], 8192, 0x0, 0;
  

  (*): It is defined at "Makefile" modified at previous step.
  (**): The smaller number it is, the higher priority the app has.
  [optional] If "cfe_relay_app" is added, set the lowest priority to it.

  CFE_LIB, /cf/apps/convert_lib.so,   CONVERT_LibInit,CONVERT_LIB,  0,   0,    0x0, 0;
  CFE_APP, /cf/apps/sample_sub_1.so,     sub_main_1_, SAMPLE_SUB,  10,   8192, 0x0, 0;
  CFE_APP, /cf/apps/relay_app.so, RELAY_AppMain,RELAY_APP, 20, 0, 0x0, 0;
  

Build & Run on Linux

[optional] ROS build & run

If you want to run "ros_relay_app", follow the below instructions.

• Move to your ros workspace, execute build commands.

  cd [your catkin workspace]  
  catkin_make clean  
  catkin_make -i  
  catkin_make
  

• Execute bellow command.

  rosrun relay_node relay_node
  rosrun [my_ros_pkg] [my_ros_node] 
  

cFE build & run

• Execute bellow commands.

  cd [your working directory]/cFE-6.5.0-OSS-release  
  . ./setvars.sh
  

• Remove old-build-directories.

  cd build/cpu1  
  rm -rf [old-build-directores]
  

• Execute build commands.

  make config  
  make 
  

• Run cFE apps.

  cd exe  
  sudo su  
  ./core-linux.bin
  

Reference

• Hiroki Kato, et al. "Software Framework for ROS Implementation into cFS." Flight Software Workshop 2019.