RACS2 (ROS2 and cFS System) Bridge

Overview

This repository is a collection of software and examples that bridge message communication between Robot Operating System 2 (ROS2) nodes and core flight executives (cFE). cFE is a core component of NASA-supplied spacecraft software, Core Flight System (CFS).

This project provides the following 2 components,

• ROS2/cFE message bridge software
• ROS2/cFE examples

If you would like to report a bug or have a request for an update, please contact us. We will respond on demand.

License

This project is under the Apache 2.0 license. See LICENSE text file.

Release Notes

• RACS2 (ROS2/cFE) project suite 1.0.0 is released.

Directory List

• ROS2 :
  • RACS2 Bridge software for ROS2.
• cFS :
  • RACS2 Bridge software for cFS.
• Document :
  • Documents of RACS2.
• Example :
  • Example software of RACS2.
• Misc :
  • Other Information of RACS2.

Dependency

• Base OS :
  • Ubuntu 22.04 LTS
• ROS2 :
  • “ros-humble” package.
• cFS :
  • cFE 6.7.0a
  • OSAL v5.0.0 (included in cFE 6.7.0a)

Setup

Premise

• Assuming to work in the “~/racs2_ws” directory.

      mkdir ~/racs2_ws
      mkdir ~/racs2_ws/ros2_ws
      

• ROS2 and cFS shall be installed on the OS.
  • See below.

    • ROS2 Installation

    • cFS Installation

      cd ~/racs2_ws  
      git clone https://github.com/nasa/cFS.git
      cd cFS
      git checkout v6.7.0a
      git submodule init
      git submodule update
      

Procedure for initial build

• Preparing for WebSocket.
  • C/C++ :

    sudo apt install -y libwebsockets-dev
    

• Python :

    pip install websockets==12.0
    

• Preparing for Protocol Buffers.
  • C/C++ :

    sudo apt install -y libwebsockets-dev protobuf-c-compiler libprotobuf-c-dev
    

• Python :

    pip install protobuf==3.20.0 
    

• git clone the RACS2 Bridge.

  cd ~/racs2_ws
  git clone https://github.com/jaxa/racs2_bridge.git -b v1.1
  

• Go to the top of the cFS project directory and execute the following build command

``` cd ~/racs2_ws/cFS

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