The following is a talker example of the configuration file. The listener example simply flips the local to sub to subscribe to the local chatter topic and to publish to the remote topic.
# FogROS2-SGC configuration file
# debug = true | false
# setting up debug to true will print out debug messages
debug = true
# log_level = "debug" | "info" | "warn" | "error" | "off"
log_level = "info"
# crypto_name = "test_cert" | ..." in /src/scripts/crypto
crypto_name="test_cert"
# address of the signaling server of webrtc
# the default parameter is provided by a berkeley server
signaling_server_address = "ws://128.32.37.42:8000"
# automatic_topic_discovery = true | false
# if true, FogROS2-SGC will try to discover all topics
# if false, FogROS2-SGC will only discover topics defined in [[ros]] section
automatic_topic_discovery = false
# There can be multiple [[ros]] sections
# each section defines a ROS node name and its topic
[[ros]]
# action = "sub" | "pub | "noop"
# pub = subscribe to local topic and publish to remote topic
# sub = publish to local topic and subscribe to remote topic
# noop = do nothing, used to exclude certain topics in auto mode
action = "pub"
# topic_name of fogros2-sgc node that will publish/subscribe to
topic_name = "/chatter"
# topic type of fogros2-sgc node that will publish/subscribe to
topic_type = "std_msgs/msg/String"Use automatic.toml for automatic topic discovery.
We note that this is not part of the FogROS2 SGC design, because this potentially exposes all the topics to other authorized machines and may create a lot of unnecessary traffic. FogROS2 SGC is designed to expose a limited number of public interfaces and keep the private topic to the robots.