v0.1.0
Status: experimental
(API subject to change, not extensively tested)
A ROS2 node that provides access to UnetStack-based communication networks. Provides access to REMOTE and ADDRESS_RESOLUTION services for data transmission and reception across a Unet (in-water network).
WORK IN PROGRESS
Partial functionality of REMOTE currently supported (only DATAGRAM service)
- ROS2 (tested against ROS2 Iron)
- Python3 (typically installed with ROS2)
pippython package installergit(optional, for downloadingunet-ros2)- UnetStack 3 or UnetStack 4 based modems or simulator (optional, for testing)
To download and build:
pip install unetpy
git clone https://github.com/org-arl/unet-ros2.git
cd unet-ros2
colcon build
source install/local_setup.bash
To start the node:
ros2 run unet_ros2 unet_gw --ros-args -p port:=1100 -p host:="192.168.100.207"
where you replace 192.168.100.207 with the IP address of your Unet node to connect to. The port number (defaults to 1100) can be customized if necessary.
Services exposed:
/unet/get/address [unet_msg/srv/AddressResolutionReq]
/unet/tx/datagram [unet_msg/srv/DatagramReq]
Topics exposed:
/unet/rx/datagram [unet_msg/msg/DatagramNtf]
Get own address:
$ ros2 service call /unet/get/address unet_msg/srv/AddressResolutionReq
waiting for service to become available...
requester: making request: unet_msg.srv.AddressResolutionReq_Request(name='')
response:
unet_msg.srv.AddressResolutionReq_Response(address=150)
Resolve address of peer node (AUV):
$ ros2 service call /unet/get/address unet_msg/srv/AddressResolutionReq '{name: "AUV"}'
waiting for service to become available...
requester: making request: unet_msg.srv.AddressResolutionReq_Request(name='AUV')
response:
unet_msg.srv.AddressResolutionReq_Response(address=173)
Transmit a datagram:
$ ros2 service call /unet/tx/datagram unet_msg/srv/DatagramReq '{to: 173, data: [1,2,3,4,5]}'
waiting for service to become available...
requester: making request: unet_msg.srv.DatagramReq_Request(data=[1, 2, 3, 4, 5], to=173, protocol=0, reliability=0, robustness=0, ttl=0.0, priority=2, shortcircuit=True, route='')
response:
unet_msg.srv.DatagramReq_Response(agree=True, id='b4b53432-c556-4e31-a7e9-431770e81cc7', reason='')
Listen for datagrams:
$ ros2 topic echo /unet/rx/datagram
data:
- 1
- 2
- 3
from_addr: 173
to: 150
protocol: 0
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