ROS2 Comms Integration

Task Description

Need for project: Newer versions of ROS2, Humble and above have an autodiscovery feature that automatically lets you find other radios on your ROS2 network. By upgrading, we can fix our configuration issue with comms.

Goal: Send various ROS2 messages from the base station computer <--> jetson.

Requirements:

• Must be able to send data both ways. Jetson <--> base station computer
• Must be able to send Twist, Image and custom messages (e.g. Xbox Controller msg)
• Must be able to specify when data should be sent over the comms link
• Must determine Quality of Service (QOS) and ROS Middle Ware (RWM) settings best suited for long-range communication
• Create and test a heartbeat node for ROS2 to ensure that comms links are stable & to tell us when autonomy should be enabled to return to the last waypoint or radio frequency should be changed.

Supporting Resources:

https://discourse.ros.org/t/long-range-ros-2-data-transmission-using-sik-telemetry-radios/32847
https://docs.ros.org/en/humble/Concepts/Intermediate/About-Different-Middleware-Vendors.html
https://docs.ros.org/en/humble/Concepts/Basic/About-Discovery.html
https://docs.ros.org/en/humble/Concepts/Intermediate/About-Quality-of-Service-Settings.html
https://docs.ros.org/en/humble/Concepts/Advanced/About-Internal-Interfaces.html
https://github.com/machinekoder/hearbeat

Constraints

Subteam Contacts

Assignees

Task Progression/Updates

Author: @person: 2024/05/04

UPDATE

• Bullet points for updates

Communication

Communication must be proactive. The subteam lead will check in with you at least once a week to get a progress report update, but it is very important that when a roadblock occurs, you reach out for help and update Monday with a blocked or stuck status.

Blocked: for tasks that have dependencies on other projects that have not been completed yet

Stuck: you are unable to get something working.