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ROS IMC Broker

ROS IMC Broker is a ROS package that enables interoperability between ROS nodes and IMC capable systems.

Trying It

If you have Docker installed in your system you can navigate to the folder "docker" and use the script docker.bash to create a docker container with all the required software packages (build tools, ROS, DUNE, etc).

  • To build the docker container navigate to the "docker" folder and issue the following command on a terminal:
bash docker.bash build
  • Once the container is built you can open a terminal inside it by issuing the following command on a terminal:
bash docker.bash

This command will mount the folder "workspace" inside the container instance. This way you can change the source code outside the container and these changes will be reflected inside the container instance.

  • To compile the broker issue the following command inside the running container:
catkin_make

This will compile the broker and some example nodes.

  • To launch the follow reference example issue the following command inside the running container:
bash start.bash

This command will start one instance of the DUNE's LAUV simulator, the ROS IMC broker, and the Follow Reference Controller node. This simple controller uses DUNE's high-level control layer to move the vehicle around a square.

Updating IMC definitions

To recreate the bindings for custom IMC messages use imctrans. Example command:

imctrans translate -l cpp -x <path-to>/IMC.xml -o src/ros_imc_broker/include