Now the branch ROS2 works with distro Humble

ros2-network-analysis/CMakeLists.txt

@@ -18,22 +18,16 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(ros2_network_analysis_interface REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 ## System dependencies are found with CMake's conventions
 find_package(Boost REQUIRED COMPONENTS system)
-find_package(rosidl_default_generators REQUIRED)
+# find_package(rosidl_default_generators REQUIRED)
 find_package(rclpy REQUIRED)
 
-rosidl_generate_interfaces( ${PROJECT_NAME}
-  "msg/WirelessLink.msg"
-  "msg/LinkUtilization.msg"
-  "msg/NetworkErrors.msg"
-  "msg/NetworkDelay.msg"
-  "msg/NetworkAnalysis.msg"
-  "msg/WirelessLinkVector.msg"
-  "action/Ping.srv"
-  DEPENDENCIES builtin_interfaces std_msgs 
- )
+# rosidl_generate_interfaces( ${PROJECT_NAME}
+#   DEPENDENCIES builtin_interfaces std_msgs 
+#  )
 
 ament_export_dependencies(rosidl_default_runtime)
 
@@ -43,23 +37,23 @@ ament_export_dependencies(rosidl_default_runtime)
 
 add_executable(network_ping_client src/ping_client.cpp)
 # add_dependencies(${target}${target_suffix} ${PROJECT_NAME})
-ament_target_dependencies(network_ping_client rclcpp std_msgs)
+ament_target_dependencies(network_ping_client rclcpp std_msgs ros2_network_analysis_interface)
 
 add_executable(network_ping_service src/ping_service.cpp)
 # add_dependencies(${target}${target_suffix} ${PROJECT_NAME})
-ament_target_dependencies(network_ping_service rclcpp std_msgs)
+ament_target_dependencies(network_ping_service rclcpp std_msgs ros2_network_analysis_interface)
 
 
 install(TARGETS
 network_ping_client
 network_ping_service
 DESTINATION lib/${PROJECT_NAME})
 
-rosidl_target_interfaces(network_ping_client
-      ${PROJECT_NAME} "rosidl_typesupport_cpp")
+# rosidl_target_interfaces(network_ping_client
+#       ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
-rosidl_target_interfaces(network_ping_service
-      ${PROJECT_NAME} "rosidl_typesupport_cpp")
+# rosidl_target_interfaces(network_ping_service
+#       ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 ament_python_install_package(${PROJECT_NAME})
 

ros2-network-analysis/package.xml

@@ -13,11 +13,12 @@
   <depend>rclcpp</depend>
   <depend>rclpy</depend>
   <depend>std_msgs</depend>
+  <depend>ros2_network_analysis_interface</depend>
 
   <!-- Action -->
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <!-- <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
-  <member_of_group>rosidl_interface_packages</member_of_group>
+  <member_of_group>rosidl_interface_packages</member_of_group> -->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

ros2-network-analysis/scripts/link_utilization.py

@@ -5,7 +5,8 @@
 
 import rclpy
 from subprocess import Popen, PIPE
-from ros2_network_analysis.msg import LinkUtilization
+from ros2_network_analysis_interface.msg import LinkUtilization
+from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 import std_msgs.msg
 import threading
 
@@ -37,17 +38,29 @@ def getparameters():
 
 def linkutilization_publisher():
 	node = rclpy.create_node('link_utilization')
+	node.declare_parameter('interface_name',
+		value="wlan0",
+		descriptor=ParameterDescriptor(
+            type=ParameterType.PARAMETER_STRING, 
+            description="The Wi-Fi interface id (e.g. wlan0)",
+        ),
+	)
+	node.declare_parameter('update_rate_link_utilization',
+		value=1.0,
+		descriptor=ParameterDescriptor(
+            type=ParameterType.PARAMETER_DOUBLE, 
+            description="Update frequency in Hz. Note: more than 1 Hz will not be effective in throughput calculation",
+        ),
+	)
 	spin_thread = threading.Thread(target=rclpy.spin, args=(node, ), daemon=True)
 	spin_thread.start()
-	interfacename = node.get_parameter_or('~INTERFACE_NAME', 'wlan0') # The Wi-Fi interface id wlan0
-	if type(interfacename) == "Parameter":
-		interfacename = interfacename.value
-	updaterate = node.get_parameter_or('~update_rate_link_utilization', 1) # Update frequency in Hz. Note: more than 1 Hz will not be effective in throughput calculation.
-	if type(updaterate) == "Parameter":
-		updaterate = updaterate.value
-		if updaterate <= 0:
-			node.get_logger().error("Update rate should be greater than 0. Setting to 10 hz")
-			updaterate = 10
+	interfacename = node.get_parameter("interface_name").get_parameter_value().string_value # The Wi-Fi interface id wlan0
+	node.get_logger().info(f"Wi-Fi Interface Name: {interfacename}")
+	updaterate = node.get_parameter("update_rate_link_utilization").get_parameter_value().double_value # Update frequency in Hz. Note: more than 1 Hz will not be effective in throughput calculation.
+	node.get_logger().info(f"Update Frequency: {updaterate} Hz")
+	if updaterate <= 0:
+		node.get_logger().error("Update rate should be greater than 0. Setting to 10 hz")
+		updaterate = 10
 	global cmd,cmd_netstat_tcp,cmd_netstat_udp,msg
 	cmd ="cat /proc/net/dev | grep " + interfacename
 	cmd_netstat_tcp = "cat /proc/net/snmp | grep Tcp:"
@@ -73,7 +86,7 @@ def linkutilization_publisher():
 		rate.sleep()
 		fout = getparameters()	
 		if (fout == 0):
-			print("The interface %s does not exist or is disconnected",interfacename)
+			print(f"The interface {interfacename} does not exist or is disconnected")
 			continue
 		msg.total_tx_mbps = (8 * (msg.total_tx_bytes - previous_total_tx_bytes) / float(1000*1000))
 		msg.total_rx_mbps = (8 * (msg.total_rx_bytes - previous_total_rx_bytes) / float(1000*1000))

ros2-network-analysis/scripts/network_errors.py

@@ -5,27 +5,38 @@
 
 from subprocess import Popen, PIPE
 import rclpy
-from ros2_network_analysis.msg import NetworkErrors
+from ros2_network_analysis_interface.msg import NetworkErrors
+from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 import std_msgs.msg
 import threading
 
 
 def network_errors_publisher():
     node = rclpy.create_node('NetworkErrors_publisher')
+    node.declare_parameter('interface_name',
+		value="wlan0",
+		descriptor=ParameterDescriptor(
+            type=ParameterType.PARAMETER_STRING, 
+            description="The Wi-Fi interface id (e.g. wlan0)",
+        ),
+	)
+    node.declare_parameter('update_rate_network_errors',
+		value=1.0,
+		descriptor=ParameterDescriptor(
+            type=ParameterType.PARAMETER_DOUBLE, 
+            description="Update frequency in Hz. Note: more than 1 Hz will not be effective in throughput calculation",
+        ),
+	)
     spin_thread = threading.Thread(
         target=rclpy.spin, args=(node, ), daemon=True)
     spin_thread.start()
-    interfacename = node.get_parameter_or(
-        '~INTERFACE_NAME', 'wlan0')
-    if type(interfacename) == "Parameter":
-        interfacename = interfacename.value
-    # Update frequency in Hz.
-    updaterate = node.get_parameter_or('~update_rate_network_errors', 1)
-    if type(updaterate) == "Parameter":
-        updaterate = updaterate.value
-        if updaterate <= 0:
-            node.get_logger().error("Update rate should be greater than 0. Setting to 10 hz")
-            updaterate = 10
+    interfacename = node.get_parameter("interface_name").get_parameter_value().string_value # The Wi-Fi interface id wlan0
+    node.get_logger().info(f"Wi-Fi Interface Name: {interfacename}")
+    updaterate = node.get_parameter("update_rate_network_errors").get_parameter_value().double_value # Update frequency in Hz. Note: more than 1 Hz will not be effective in throughput calculation.
+    node.get_logger().info(f"Update Frequency: {updaterate} Hz")
+    if updaterate <= 0:
+        node.get_logger().error("Update rate should be greater than 0. Setting to 10 hz")
+        updaterate = 10
     pub = node.create_publisher(
         NetworkErrors, 'network_analysis/network_errors', 10)
     msg = NetworkErrors()

ros2-network-analysis/scripts/wireless_quality.py

@@ -5,7 +5,8 @@
 
 import os
 import rclpy
-from ros2_network_analysis.msg import WirelessLink
+from ros2_network_analysis_interface.msg import WirelessLink
+from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 import std_msgs.msg
 import threading
 
@@ -25,9 +26,9 @@ def get_rssi_from_os(interface_name, node):
         cmd_output = f.read()
         ans = cmd_output.split()
 
-        msg.rssi = int(ans[3]) # there is a problem here when i use my interface (wlp0s20f3). Not sure what it is though
+        msg.rssi = int(float(ans[3])) # there is a problem here when i use my interface (wlp0s20f3). Not sure what it is though
         msg.lqi = float(ans[2])
-        msg.noise = float(ans[4])
+        msg.noise = int(ans[4])
         msg.iface = interface_name
         msg.status = True
 
@@ -42,20 +43,32 @@ def get_rssi_from_os(interface_name, node):
 if __name__ == '__main__':
     rclpy.init()
     node = rclpy.create_node('wireless_quality')
+    node.declare_parameter('interface_name',
+		value="wlan0",
+		descriptor=ParameterDescriptor(
+            type=ParameterType.PARAMETER_STRING, 
+            description="The Wi-Fi interface id (e.g. wlan0)",
+        ),
+	)
+    node.declare_parameter('update_rate_wireless_quality',
+		value=1.0,
+		descriptor=ParameterDescriptor(
+            type=ParameterType.PARAMETER_DOUBLE, 
+            description="Update frequency in Hz. Note: more than 1 Hz will not be effective in throughput calculation",
+        ),
+	)
     spin_thread = threading.Thread(
         target=rclpy.spin, args=(node, ), daemon=True)
     spin_thread.start()
-    interfacename = node.get_parameter_or('~INTERFACE_NAME', 'wlan0wlp0s20f3')
-    if type(interfacename) == "Parameter":
-        interfacename = interfacename.value
-    update_rate = node.get_parameter_or(
-        '~update_rate_wireless_quality', 10)
-    if type(update_rate) == "Parameter":
-        update_rate = update_rate.value
-        if update_rate <= 0:
-            node.get_logger().error(
-                "Update rate must be greater than 0. Setting to 10 Hz")
-            update_rate = 10
+    interfacename = node.get_parameter("interface_name").get_parameter_value().string_value # The Wi-Fi interface id wlan0
+    node.get_logger().info(f"Wi-Fi Interface Name: {interfacename}")
+    update_rate = node.get_parameter("update_rate_wireless_quality").get_parameter_value().double_value # Update frequency in Hz. Note: more than 1 Hz will not be effective in throughput calculation.
+    node.get_logger().info(f"Update Frequency: {update_rate} Hz")
+
+    if update_rate <= 0:
+        node.get_logger().error(
+            "Update rate must be greater than 0. Setting to 10 Hz")
+        update_rate = 10
 
     pub_rssi = node.create_publisher(
         WirelessLink, 'network_analysis/wireless_quality', 10)

ros2-network-analysis/src/ping_client.cpp

@@ -1,7 +1,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <sys/time.h>
-#include <ros2_network_analysis/srv/ping.hpp>
-#include <ros2_network_analysis/msg/network_delay.hpp>
+#include <ros2_network_analysis_interface/srv/ping.hpp>
+#include <ros2_network_analysis_interface/msg/network_delay.hpp>
 #include <iostream>
 #include <chrono>
 #include <cstdlib>
@@ -30,10 +30,10 @@ int main(int argc, char *argv[])
         return 0;
     }
 
-    auto client = node->create_client<ros2_network_analysis::srv::Ping>("network_analysis/ping");
-    auto request = std::make_shared<ros2_network_analysis::srv::Ping::Request>();
-    ros2_network_analysis::msg::NetworkDelay msg;
-    auto delayPub = node->create_publisher<ros2_network_analysis::msg::NetworkDelay>("network_analysis/network_delay", 10);
+    auto client = node->create_client<ros2_network_analysis_interface::srv::Ping>("network_analysis/ping");
+    auto request = std::make_shared<ros2_network_analysis_interface::srv::Ping::Request>();
+    ros2_network_analysis_interface::msg::NetworkDelay msg;
+    auto delayPub = node->create_publisher<ros2_network_analysis_interface::msg::NetworkDelay>("network_analysis/network_delay", 10);
     request->inp = true;
     rclcpp::Rate rate(updateRate);
     while (!client->wait_for_service(std::chrono::seconds(1)))

ros2-network-analysis/src/ping_service.cpp

@@ -1,12 +1,12 @@
 #include <rclcpp/rclcpp.hpp>
-#include <ros2_network_analysis/srv/ping.hpp>
-#include <ros2_network_analysis/msg/network_delay.hpp>
+#include <ros2_network_analysis_interface/srv/ping.hpp>
+#include <ros2_network_analysis_interface/msg/network_delay.hpp>
 
 
 
 
-void respond(std::shared_ptr<ros2_network_analysis::srv::Ping::Request> request, 
-            std::shared_ptr<ros2_network_analysis::srv::Ping::Response> response)
+void respond(std::shared_ptr<ros2_network_analysis_interface::srv::Ping::Request> request, 
+            std::shared_ptr<ros2_network_analysis_interface::srv::Ping::Response> response)
 {
     RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Ping service received request");
     if(request->inp)
@@ -25,7 +25,7 @@ int main(int argc, char *argv[])
 {
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("ping_service");
-  auto service = node->create_service<ros2_network_analysis::srv::Ping>("network_analysis/ping", &respond);
+  auto service = node->create_service<ros2_network_analysis_interface::srv::Ping>("network_analysis/ping", &respond);
   while(rclcpp::ok()){
     rclcpp::spin_some(node);
   }

ros2_network_analysis_interface/CMakeLists.txt

@@ -0,0 +1,50 @@
+cmake_minimum_required(VERSION 3.5)
+project(ros2_network_analysis_interface)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/LinkUtilization.msg"
+  "msg/NetworkAnalysis.msg"
+  "msg/NetworkDelay.msg"
+  "msg/NetworkErrors.msg"
+  "msg/WirelessLink.msg"
+  "msg/WirelessLinkVector.msg"
+  "action/Ping.srv"
+  DEPENDENCIES std_msgs
+ )
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

ros2_network_analysis_interface/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros2_network_analysis_interface</name>
+  <version>0.1.0</version>
+  <description>Custom messages for ros2_aruco</description>
+  <maintainer email="[email protected]">Nathan Sprague</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>