forked from nasa/astrobee
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Merge branch 'develop' of https://github.com/nasa/astrobee into honey…
…_calibration
- Loading branch information
Showing
62 changed files
with
4,146 additions
and
132 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,105 @@ | ||
| -- Copyright (c) 2017, United States Government, as represented by the | ||
| -- Administrator of the National Aeronautics and Space Administration. | ||
| -- | ||
| -- All rights reserved. | ||
| -- | ||
| -- The Astrobee platform is licensed under the Apache License, Version 2.0 | ||
| -- (the "License"); you may not use this file except in compliance with the | ||
| -- License. You may obtain a copy of the License at | ||
| -- | ||
| -- http://www.apache.org/licenses/LICENSE-2.0 | ||
| -- | ||
| -- Unless required by applicable law or agreed to in writing, software | ||
| -- distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| -- WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| -- License for the specific language governing permissions and limitations | ||
| -- under the License. | ||
|
|
||
| require "context" | ||
|
|
||
| -- Enable DDS communications on start -- | ||
| -- If false, a trigger call will be needed to start communications -- | ||
| initialize_dds_on_start = false | ||
|
|
||
| -- Request an advertisement info message if a content message was received | ||
| -- before the advertisement info message in case the advertisement message | ||
| -- never comes. | ||
| -- DDS has been setup such that this shouldn't be needed and it can cause more | ||
| -- information to be sent then needed. By default, it will be set to false | ||
| -- but if communications on the ISS are not working as expected, it can be | ||
| -- enabled. | ||
| enable_advertisement_info_request = false | ||
|
|
||
| -- The verbosity is used to control the output of the underlying ros | ||
| -- publisher/subscriber. Level 2 is the most verbose and will output all of the | ||
| -- output including debug statements. Level 1 will output all output except | ||
| -- debug statements and level 0 will only output warnings and errors. Since | ||
| -- all output statements go directly to the ros log, it is safest to keep it | ||
| -- set to 2. | ||
| verbose = 2 | ||
|
|
||
| -- ad2pub_delay is a time amount in seconds. The bridge publisher must receive | ||
| -- the adverttisement info message for a topic before it can publish a content | ||
| -- message for that topic. If the bridge publisher receives the content message | ||
| -- before the advertisement info, it will save the content message if the | ||
| -- ad2pub_delay is greater than 0. If the bridge publisher receives the | ||
| -- advertisement info message within the ad2pub_delay time, it will process | ||
| -- and publish the content message. If the comms bridge seems to be dropping | ||
| -- the first few messages, try increasing this value. | ||
| ad2pub_delay = 3.0 | ||
|
|
||
| links = { | ||
| -- Logically, there could be up to three two-way links between the three robots. In practice, we | ||
| -- will probably only have one link. | ||
| { | ||
| -- A single link entry has required fields "from" and "to" that specify the robot roles involved | ||
| -- in the link. | ||
| -- This link will only work on the ISS since it uses the names of the | ||
| -- robots on the ISS. Please add more links if Queen goes back to the ISS. | ||
| from = "Bumble", -- manager | ||
| to = "Honey", -- actor | ||
|
|
||
| -- The link entry has three optional fields: relay_forward (messages to be relayed only in the | ||
| -- `from` to `to` direction), relay_backward (to be relayed only in the `to` to `from` direction), | ||
| -- and relay_both (to be relayed in both directions). Providing all three fields gives the user | ||
| -- full directional control while minimizing repetition and copy/paste errors. | ||
|
|
||
| -- Each topic entry can contain an input topic and an output topic. The | ||
| -- in topic is the topic being published on the robot sending the data and | ||
| -- must be specified. The optional out topic is the name of the topic a | ||
| -- user wants the data published on in the receiving robot. If the | ||
| -- out topic is not specified, the comms bridge will set it to be the name | ||
| -- of the robot sending the data combined with the in topic name. For | ||
| -- instance, if the from robot was Bumble and the to robot was Honey and | ||
| -- one of the in topics in the relay forward list was "mgt/ack", then it | ||
| -- would be published on Honey on topic "bumble/mgt/ack". | ||
| -- Please note that only one unique in topic can exist in the relay forward | ||
| -- and relay both lists and the relay backward and relay both lists. It is | ||
| -- fine to have the same in topic in the relay forward and relay backward | ||
| -- lists. | ||
|
|
||
| relay_forward = { | ||
| }, | ||
| relay_backward = { | ||
| }, | ||
| relay_both = { | ||
| {in_topic = "gnc/ekf"}, | ||
| {in_topic = "gs/data"}, | ||
| }, | ||
| }, | ||
| { | ||
| -- This link will only work in the granite lab since it uses the names of | ||
| -- the robots in the granite lab. | ||
| from = "Bsharp", -- manager | ||
| to = "Wannabee", -- actor | ||
|
|
||
| relay_forward = { | ||
| }, | ||
| relay_backward = { | ||
| }, | ||
| relay_both = { | ||
| {in_topic = "gnc/ekf"}, | ||
| {in_topic = "gs/data"}, | ||
| } | ||
| } | ||
| } |
6 changes: 6 additions & 0 deletions
6
astrobee/config/communications/dds_generic_comms/NDDS_DISCOVERY_PEERS
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| ;; NDDS_DISCOVERY_PEERS - Discovery Configuration File | ||
| ;; This file is used to configure the dds portion of the comms bridge | ||
| ; EVERY LINE IN THIS FILE MUST END IN A COMMENT. Even blank lines. | ||
| ; | ||
| ;; Add the IP addresses of the robots to communicate with | ||
| 127.0.0.1 ; Local host is added by default |
Oops, something went wrong.