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vehicle_gateway_multi package from vehicle_gateway repo

betaflight_configurator betaflight_controller betaflight_demo betaflight_gazebo betaflight_sim gz_aerial_plugins px4_sim qgroundcontrol vehicle_gateway vehicle_gateway_betaflight vehicle_gateway_demo vehicle_gateway_integration_test vehicle_gateway_models vehicle_gateway_multi vehicle_gateway_px4 vehicle_gateway_python vehicle_gateway_python_helpers vehicle_gateway_sim_performance vehicle_gateway_worlds

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Package Summary

Tags	No category tags.
Version	0.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	A pluginlib-based C++ library that interfaces with several vehicle SDK's
Checkout URI	https://github.com/osrf/vehicle_gateway.git
VCS Type	git
VCS Version	main
Last Updated	2024-07-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Multiple vehicle communications for Vehicle Gateway

Additional Links

No additional links.

Maintainers

Morgan Quigley

Authors

Morgan Quigley

vehicle_gateway_multi/README.md

vehicle_gateway_multi

This package will create a bridge between the ROS 2 topic /px4_<vehicle_id>/fmu/out/vehicle_gps_position" and the zenoh key /vehicle_gateway/<vehicle_id>/telemetry.

Test it

Launch the px4_sim_multi.launch.py example from the px4_sim package:

export MULTIROBOT_CONFIG=<path to your workspace>/src/vehicle_gateway/px4_sim/config/multi.yaml
ros2 launch px4_sim px4_sim_multi.launch.py

This launch file will launch a Gazebo simulation with two vehicles: one quadcopter and one vtol both in the same DDS domain id. If you want to use a different DDS domain id you can easily modify this in the multi.yaml file.

Then you should run the ROS 2 <-> Zenoh bridge. Type this for the vehicle one:

# export ROS_DOMAIN_ID=<dds domain id vechile 1>
ros2 run vehicle_gateway_multi vehicle_gateway_multi_bridge <path to your workspace>/src/vehicle_gateway/vehicle_gateway_multi/config/zenoh_all_localhost.json5 1

Type this for the vehicle two:

# export ROS_DOMAIN_ID=<dds domain id vechile 2>
ros2 run vehicle_gateway_multi vehicle_gateway_multi_bridge <path to your workspace>/src/vehicle_gateway/vehicle_gateway_multi/config/zenoh_all_localhost.json5 2

Now we can check that everything is working if we use the following program to subscribe the zenoh key vehicle_gateway/*/telemetry

ros2 run vehicle_gateway_multi vehicle_gateway_multi_bridge_client

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	ament_lint_auto
	ament_lint_common
	px4_msgs
	rclcpp
	std_msgs
	vehicle_gateway
	yaml_cpp_vendor
	zenohc

System Dependencies

Name
nlohmann-json-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

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Plugins

No plugins found.

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