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state_exchanger package from swarm_functions repoarea_division coverage_path kinematics_exchanger state_exchanger swarm_functions target_monitor task_allocation |
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Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | Apache License 2.0 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/cpswarm/swarm_functions.git |
| VCS Type | git |
| VCS Version | kinetic-devel |
| Last Updated | 2021-01-19 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A package that exchanges behavioral states between multiple cyber physical systems (CPSs) in a swarm.
Additional Links
Maintainers
- Micha Sende
Authors
- Micha Sende
state_exchanger
This package exchanges behavioral states between multiple cyber physical systems (CPSs) in a swarm.
Dependencies
This package depends on the following message definitions:
The communication between CPSs is based on the CPSwarm Communication Library.
The state that is exchanged is read from a SMACH state machine.
Further required packages are:
Execution
Run the launch file
roslaunch state_exchanger state_exchanger.launch
to launch the state_exchanger node.
The launch file can be configured with following parameters:
-
id(integer, default:1) The identifier (ID) of the CPS used for name spacing in simulation. -
output(string, default:screen) Whether to show the program output (screen) or to write it to a log file (log).
In the param subdirectory there is the parameter file state_exchanger.yaml that allows to configure the behavior of the state_exchanger node.
Nodes
state_exchanger
The state_exchanger node publishes behavioral states of this CPS to the rest of the swarm and publishes the state received from the other swarm members locally. The state is taken from a locally running SMACH state machine. If the CPS is in multiple states, only the first one is considered.
Subscribed Topics
-
smach_server/smach/container_status(smach_msgs/SmachContainerStatus) The current state of this CPS. -
bridge/events/state(cpswarm_msgs/StateEvent) The current state of another CPS. Messages are exchanged between CPSs using the CPSwarm Communication Library.
Published Topics
-
state(cpswarm_msgs/StateEvent) The current state of this CPS that is forwarded by the CPSwarm Communication Library to the other swarm members. -
swarm_state(cpswarm_msgs/ArrayOfStates) The states of the other swarm members received through the CPSwarm Communication Library.
Parameters
-
~loop_rate(real, default:1.5) The frequency in Hz at which to run the control loops. -
~queue_size(integer, default:10) The size of the message queue used for publishing and subscribing to topics. -
~timeout(real, default:20.0) The time in seconds after which another CPS is considered to have left the swarm. -
~sm_path(string, default:/SM_TOP) The path of the smach state machine whose state shall be exchanged.
Code API
CHANGELOG
Changelog for package state_exchanger
1.1.0 (2019-10-31)
- Initial release of state_exchanger
- Contributors: Micha Sende
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| roscpp | |
| smach_msgs | |
| cpswarm_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| swarm_functions |
Launch files
- launch/state_exchanger.launch
-
- id [default: 1]
- output [default: log]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged state_exchanger at Robotics Stack Exchange
No version for distro melodic. Known supported distros are highlighted in the buttons above.