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What is this?

This is a simple sample code for the Hakoniwa Bridge.

With this sample code, you can test the following:

• Writing PDU data from a virtual Hakoniwa asset allows it to be referenced on the edge side.
• Delivering PDU data from the edge side allows it to be referenced by the virtual Hakoniwa asset.

Configuration

The configuration of the sample program is as shown in the diagram below.

The virtual side Hakoniwa asset, HakoAssetSample, performs read and write operations on the Hakoniwa PDU data.

The data read by HakoAssetSample is RobotAvator_cmd_pos.

The data written by HakoAssetSample are RobotAvator_baggage_sensor and RobotAvator_bumper_sensor.

These data are shared with the edge side (Real) through ShmProxy.

On the real side, it can be published/subscribed as ROS topics through RosProxy.

The data written by HakoAssetSample, RobotAvator_baggage_sensor and RobotAvator_bumper_sensor, can be referenced using ros2 topic echo.

The data read by HakoAssetSample, RobotAvator_cmd_pos, can be sent using the ros2 topic echo command.

Preparation

On the Virtual side

Please install the necessary software on both the virtual and edge sides beforehand.

Build the sample program for the virtual side.

cd examples

bash build.bash

Upon success, the following file will be created:

% ls cmake-build/sample
cmake-build/sample

On the Edge Side

Please create RosProxy by using the following custom.json.

https://github.com/toppers/hakoniwa-bridge/blob/main/examples/custom.json

cd hakoniwa-bridge/third-party/hakoniwa-ros2pdu

wget https://raw.githubusercontent.com/toppers/hakoniwa-bridge/main/examples/custom.json

bash create_proxy_ros_zenoh.bash custom.json

cd workspace

colcon build --packages-select hako_ros_proxy

How to Run

On the Virtual Side

Start ShmProxy.

./cmake-build/shm-proxy/shm-proxy ShmProxy ../examples/custom.json 20 master

Start the sample program.

./cmake-build/sample HakoSampleAsset ./custom.json 20

Upon success, logs will be output every second as follows:

Robot: RobotAvator, PduWriter: RobotAvator_baggage_sensor
channel_id: 1 pdu_size: 28
INFO: RobotAvator create_lchannel: logical_id=1 real_id=1 size=28
Robot: RobotAvator, PduWriter: RobotAvator_bumper_sensor
channel_id: 2 pdu_size: 28
INFO: RobotAvator create_lchannel: logical_id=2 real_id=2 size=28
INFO: asset(Hello) is registered.
WAIT START
WAIT RUNNING
PDU CREATED
LOADED: PDU DATA
INFO: my_on_initialize enter
INFO: sleep 1sec
INFO: my_on_initialize exit
INFO: start simulation
SYNC MODE: true
INFO: on_simulation_step enter: 20000
20000: pos data(0.000000, 0.000000, 0.000000)
INFO: on_simulation_step exit
INFO: on_simulation_step enter: 40000
40000: pos data(0.000000, 0.000000, 0.000000)
INFO: on_simulation_step exit
INFO: on_simulation_step enter: 60000
60000: pos data(0.000000, 0.000000, 0.000000)
INFO: on_simulation_step exit

Start the simulation with the Hakoniwa command.

hako-cmd start

On the Edge Side

Start RosProxy.

ros2 run hako_ros_proxy hako_ros_proxy_node 

Display the list of ROS2 topics.

ros2 topic list
/RobotAvator_baggage_sensor
/RobotAvator_bumper_sensor
/RobotAvator_cmd_pos
/parameter_events
/rosout

Reference the data written by HakoAssetSample, RobotAvator_baggage_sensor and RobotAvator_bumper_sensor, using ros2 topic echo.

RobotAvator_baggage_sensor:

ros2 topic echo /RobotAvator_baggage_sensor

Output: Display continues toggling between true and false

$ ros2 topic echo /RobotAvator_baggage_sensor
data: true
---
data: false
---
data: true
---
data: false

RobotAvator_bumper_sensor:

ros2 topic echo /RobotAvator_bumper_sensor:

Output: Display continues toggling between true and false

$ ros2 topic echo RobotAvator_bumper_sensor
data: true
---
data: false
---
data: true
---
data: false

Send the data read by HakoAssetSample, RobotAvator_cmd_pos, using the ros2 topic echo command as follows.

ros2 topic pub RobotAvator_cmd_pos geometry_msgs/msg/Twist

 "{linear: {x: 3.5, y: 2.0, z: 1.0}, angular: {x: 0.1, y: 0.1, z: 0.2}}"

Upon success, the virtual side will display the received data as follows:

INFO: on_simulation_step enter: 2500000
2500000: pos data(3.500000, 2.000000, 1.000000)
INFO: on_simulation_step exit