ROS2 Comms Integration

Project	Task	Project Manager

Project	Task	Project Manager
Comms	ROS2 Radio Communication	@Alex Szabo

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
GitHub - machinekoder/hearbeat: ROS2 heartbeat publisher node

Constraints

Constraints	Author	Appended Date

Constraints	Author	Appended Date
N/A	N/A	N/A

Subteam Contacts

Subteam	Contact	Description

Subteam	Contact	Description
Software	Alex Szabo: @Alex Szabo	For ROS2 Questions
Electrical	Yuchen: @Yuchen Lin	For radio questions

Assignees

Assignee	Monday Task	Date

Assignee	Monday Task	Date
XX	Monday Task Board	Jul 21, 2024

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.

Documentation

Upon making progression updates, please update the documentation page for this project with any critical information and resources.

Add documentation to this document:Comms 2024
Documentation Guide: SW/FW Documentation Guideline