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| 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"}, | ||
| } | ||
| } | ||
| } |
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astrobee/config/communications/dds_generic_comms/NDDS_DISCOVERY_PEERS
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| ;; 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 |
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