h_comms

High level communications for DARPA SubT Team NUS SEDS.

Branches

Point-To-Point Communication: ptp-comms

Data Distribution Protocol: ddp

Graphs Exchange: exchange_graphs

Install these prerequisites for ROS message conversion

sudo apt-get install python3-pip python3-yaml sudo pip3 install rospkg catkin_pkg

Start the simulator with 3 robots

source ~/subt_ws/install/setup.bash

ign launch -v 4 cave_circuit.ign worldName:=simple_cave_01 robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1 robotName2:=X2 robotConfig2:=X1_SENSOR_CONFIG_1 robotName3:=X3 robotConfig3:=X1_SENSOR_CONFIG_1

Begin the communication channel using simple comms

source ~/subt_ws/devel/setup.bash

rosrun simple_comms simple_comms

Use the teleop to control the vehicle

source ~/subt_ws/install/setup.bash

rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/X1/cmd_vel

Use noroute_mesh package

In seperate terminals, run the following

rosrun noroute_mesh msg_converter.py (to run message conversion services)

rosrun noroute_mesh noroute_mesh_node X1 1 (to enable robot X1 CommsClient and communication services)

rosrun noroute_mesh noroute_mesh_node X2 2 (to enable robot X2 CommsClient and communication services))

rqt (to test services)