Skip to content

Latest commit

 

History

History
176 lines (132 loc) · 4.57 KB

README.md

File metadata and controls

176 lines (132 loc) · 4.57 KB

RACS2 (ROS2 and cFS System) Bridge

Overview

This repository is a collection of software and examples that bridge message communication between Robot Operating System 2 (ROS2) nodes and core flight executives (cFE). cFE is a core component of NASA-supplied spacecraft software, Core Flight System (CFS).

This project provides the following 2 components,

  • ROS2/cFE message bridge software
  • ROS2/cFE examples

If you would like to report a bug or have a request for an update, please contact us. We will respond on demand.

License

This project is under the Apache 2.0 license. See LICENSE text file.

Release Notes

  • RACS2 (ROS2/cFE) project suite 1.0.0 is released.

Directory List

  • ROS2 :
    • RACS2 Bridge software for ROS2.
  • cFS :
    • RACS2 Bridge software for cFS.
  • Document :
    • Documents of RACS2.
  • Example :
    • Example software of RACS2.
  • Misc :
    • Other Information of RACS2.

Dependency

Setup

Premise

Procedure

  • Preparing for WebSocket.

    • C/C++ : 
      sudo apt install -y libwebsockets-dev
    • Python : 
      pip install websockets

  • Preparing for Protocol Buffers.

    • C/C++ : 
      sudo apt install -y libwebsockets-dev protobuf-c-compiler libprotobuf-c-dev
    • Python : 
      pip install protobuf

  • git clone the RACS2 Bridge.

    git clone https://github.com/jaxa/racs2_bridge.git

  • Preparation of execution environment on the cFS side.

    • If the cFS version is not 6.7.0a, go to the top of the cFS project directory and do the following:

      git checkout v6.7.0a
git submodule init
git submodule update

    • Go to the top of the cFS project directory and execute the following build command

      cp cfe/cmake/Makefile.sample Makefile
cp -r cfe/cmake/sample_defs sample_defs

    • Bridge application placement in the cFS execution environment.

      cp -pr racs2_bridge/cFS/Bridge/Client_C/apps/racs2_bridge_client [cFS project path]/apps/
cp -pr racs2_bridge/cFS/Bridge/Client_C/sample_defs/* [cFS project path]/sample_defs/

    • Edit L.205 of "[cFS project path]/sample_defs/default_osconfig.h" as follows,

      #define OSAL_DEBUG_PERMISSIVE_MODE

    • Go to the top of the cFS project directory and execute the following build command

      make prep
make
make install

  • Preparation of execution environment on the ROS2 side.

    • Bridge node placement in the ROS2 execution environment. 
      cp -pr racs2_bridge/ROS2/Bridge/Server_Python/bridge_py_s [ROS2 project path]/src/
    • Go to the top of the ROS2 project directory and execute the following build command 
      colcon build --symlink-install

  • Start the ROS2 node.

    cd [ROS2 project path]
source install/setup.bash
ros2 run bridge_py_s bridge_py_s_node  --ros-args --params-file ./src/bridge_py_s/config/params.yaml

  • Start the cFS application.

    cd [cFS project path]/build/exe/cpu1
./core-cpu1

  • Start the ROS2 publishers and subscribers.

  • Start the cFS publishers and subscribers.

Params for ROS2

  • Specify startup parameters in YAML format. The name of the file describing the parameters is params.yaml.
  • Parameters Details:
    • wss_uri -> HostName or IP Address. The type is String.
    • wss_port -> Port Number. The type is Integer.

Params for cFS

  • Specify startup parameters in txt format. The name of the file describing the parameters is racs2_bridge_config.txt.
  • Parameters Details:
    • wss_uri -> HostName or IP Address.
    • wss_port -> Port Number.

About Example

  • See Example/README.md.

How to exchange messages

  • See Document/HowToExchangeMessages.md.

Reference