usdotfhwastolcandidate/carma_vehicle_nats_bridge repository overview

⁠ros2 nats bridge

⁠Overview

This is a ros2 nats bridge. this package is meant to create conection between ros nodes and nats server and allow for tranmition of data from both ends.

Keywords: ros2, nats, cda-telematics

⁠License

The source code is released under a Apache-2.0 license⁠.

The PACKAGE NAME package has been tested under ROS⁠ foxy on respectively Ubuntu 18.04. This code, expect that it changes often and any fitness for a particular purpose is disclaimed.

⁠Installation

⁠Building from Source

⁠Dependencies

ROS: http://www.ros.org⁠
Nats.io: https://github.com/nats-io/nats.py⁠
carma-msgs: https://github.com/usdot-fhwa-stol/carma-msgs.git⁠

⁠Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd ws/src
git clone --depth=1 https://github.com/usdot-fhwa-stol/carma-msgs.git --branch  $BRANCH
git clone --depth=1 https://github.com/usdot-fhwa-stol/cda-telematics.git --branch  $BRANCH
cd ../
colcon build

⁠Running in Docker

Docker is a great way to run an application with all dependencies and libraries bundles together. Make sure to install Docker⁠ first.

command to start the container :

docker run -ti --rm --name ros2_nats_bridge --network host ros2-nats-bridge:latest bash

⁠Unit Tests

Run the unit tests with

colcon test --packages-select ros2_nats_bridge
colcon test --packages-select --event-handlers console_cohesion+ ros2_nats_bridge #print unit test result

Run pytest for individual file: python3 -m pytest test_messages.py python3 -m pytest test_logger.py

⁠Usage

Run the main node with

ros2 launch ros2_nats_bridge ros2_nats_bridge_launch.py

or 

ros2 run ros2_nats_bridge main

⁠Config files

Config file config/params.yaml

• params.yaml this config file includes all the parameters needed by ros2 nats bridge

⁠Launch files

• ros2_nats_bridge_launch.py: will launch ros2 to nats bridge

⁠Nodes

⁠ros_package_template

This node creates a bridge between nats and ros and enables the software to publish ros messages in nats framework.

⁠Subscribed Topics

• /* ([all type of messages available])

  all the topics that are selected by nats server is subscribed and published.

⁠Parameters

• NATS_SERVER_IP_PORT (string, default: "nats://0.0.0.0:4222")

  The IP address of nats server.

⁠Available topics

• Sample response for available topics from carma platform

  {"unit_id": "DOT-45244", "unit_type": "platform", "unit_name": "BlueLexus", "timestamp": "1678998191815233965", "event_name": "wfd_full_integration_testing", "location": "TFHRC", "testing_type": "Integration", "topics": [{"name": "/environment/tcr_bounding_points", "type": "carma_v2x_msgs/msg/TrafficControlRequestPolygon"}, {"name": "/guidance/cooperative_lane_change_status", "type": "carma_planning_msgs/msg/LaneChangeStatus"}, {"name": "/hardware_interface/as/pacmod/parsed_tx/accel_rpt", "type": "pacmod3_msgs/msg/SystemRptFloat"}, {"name": "/hardware_interface/as/pacmod/parsed_tx/brake_rpt", "type": "pacmod3_msgs/msg/SystemRptFloat"}, {"name": "/hardware_interface/vehicle/twist", "type": "geometry_msgs/msg/TwistStamped"}, {"name": "/localization/current_pose", "type": "geometry_msgs/msg/PoseStamped"}, {"name": "/localization/gnss_pose", "type": "geometry_msgs/msg/PoseStamped"}, {"name": "/message/bsm_outbound", "type": "carma_v2x_msgs/msg/BSM"}, {"name": "/message/outgoing_geofence_request", "type": "carma_v2x_msgs/msg/TrafficControlRequest"}, {"name": "/parameter_events", "type": "rcl_interfaces/msg/ParameterEvent"}, {"name": "/rosout", "type": "rcl_interfaces/msg/Log"}]}
  

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⁠Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker⁠.