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transport_drivers

A set of ROS2 drivers for transport-layer protocols. Currently utilizes the stand-alone ASIO library for most transport-layer functionality.

Supported Drivers:

  • UDP Driver

A package which encapsulates basic receving and sending of udp data.

Provided within this package are the following executabes:

  • udp_receiver_node_exe: can receive UDP data
  • udp_sender_node_exe: can send UDP data asynchronosouly
  • udp_bridge_node_exe: combined both receiver and sender nodes into one

Provided within this package also is a udp_driver library without the ROS2 dependencies which could be used elsewhere.

  • Serial Driver

A package which which encapsulates basic receiving and sending of serial data.

Provided within this package is the following executabe:

  • serial_bridge: combined both receiver and sender nodes into one

Provided within this package also is a serial_driver library without the ROS2 dependencies which could be used elsewhere.

  • IO Context

A library to write synchronous and asynchronous networking applications.

  • TCP Driver

A package that encapsulates basic receiving and sending of TCP data.

(Some functions are specialized for Hesai LiDAR specifications.)

Provided within this package also is the tcp_driver library without the ROS2 dependencies, which could be used elsewhere.

An example of usage for Hesai is as follows.

  1. Create TcpDriver with boost::asio::io_context.
  2. Initialize by calling init_socket with each parameter.
  3. Open the socket with ->open().
  4. Call asyncSendReceiveHeaderPayload with callbacks for the header and payload data, and post process.
  5. Call run of boost::asio::io_context given at initialization.
  • HTTP Client Driver

A package that encapsulates basic receiving and sending of HTTP data.

Provided within this package also is the http_client_driver library without the ROS2 dependencies, which could be used elsewhere.

An example of usage is as follows.

  1. Create HttpClientDriver with boost::asio::io_context.
  2. Initialize by calling init_client with each parameter.
  3. Open the client with ->client()->open().
  4. Call asyncGet or asyncPost with a callback for the received body.
  5. Call run of boost::asio::io_context given at initialization.

Quick start

Clone the repo into your workspace, normally with the structure workspace/src/<clone-repo-here>:

git clone https://github.com/ros-drivers/transport_drivers.git

Install dependencies using rosdep from your top-level workspace directory:

rosdep install --from-paths src --ignore-src -r -y

Once you have the repository cloned and dependencies installed, you can now go ahead and compile:

colcon build

After successful compilation, you should be able to source your newly built packages:

source install/setup.bash

...and now you should be able to run your newly built executables. Here is how you would launch the udp_driver bridge node:

ros2 run udp_driver udp_bridge_node_exe --ros-args --params-file ./src/transport_drivers/udp_driver/params/example_udp_params.yaml

Testing

Comprehensive unit tests have been written for every package within this repository.

To run them yourself, use the normal command from your top-level workspace directory:

colcon test