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Relay example type4

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yuyu edited this page Jan 25, 2021 · 5 revisions

ROS and cFS System (RACS): ROS/cFE message relay example

Type4: ROS<->cFE Mutual Relay

Configuration

configuration

Setup environment

Follow "Environment construction" in Manual.

Generate relay app/node

  1. Edit the following “roscfe/cfs_converter/config.ini” file according to the worker's environment.

    [setting]
; Output cfe directory path
cfe_path=/home/jaxa/roscfe_ws/cFE-6.5.0-OSS-release/apps
; Output ros directory path
ros_path=/home/jaxa/catkin_ws/src
; Log directory path
log_dir_path=./
; Set path of convert target pkg directory path and read target launch file
target_path=./convert_list.txt
; Whether to create relay_node and relay_app(1: create, 0: not create)
create_relay_flag=0
; Set path of main function name setting 
main_func_path=./main_func_name.yaml

    • Change 1: Change "cfe_path" to match the path of "apps" in your cFE project.

      Example)

      cfe_path=/home/yuyuqq/cFE-6.5.0-OSS-release/apps

    • Change 2: Change "ros_path" to match the path of the ROS workspace.

      Example)

      ros_path=/home/yuyuqq/catkin_ws/src

  2. Clone the "HK" from NASA's repository into cFE "apps" directory and apply patch("roscfe/tutorial/ros_cfe_relay/type4/cfe/apps/hk/hk_app.c.patch") to "hk/fsw/src/hk_app.c".

    Example)

    cd /home/yuyuqq/cFE-6.5.0-OSS-release/apps/
git clone https://github.com/nasa/HK.git -b 2.4.1 hk
cd hk/fsw/src
patch -u hk_app.c < /home/yuyuqq/roscfe/tutorial/ros_cfe_relay/type4/cfe/apps/hk/hk_app.c.patch

  3. Copy the "hk_ps" directory from "roscfe/tutorial/ros_cfe_relay/type4/cfe/apps/hk_ps" to cFE "apps" directory.

    Example)

    cp -r /home/yuyuqq/roscfe/tutorial/ros_cfe_relay/type4/cfe/apps/hk_ps /home/yuyuqq/cFE-6.5.0-OSS-release/apps/

  4. Copy the "convert_lib" directory from "roscfe/convert_lib" to cFE "apps" directory.

    Example)

    cp -r /home/yuyuqq/roscfe/convert_lib /home/yuyuqq/cFE-6.5.0-OSS-release/apps/

  5. Copy the "hk_pub" & "hk_sub" directory from "roscfe/hk_pub" & "roscfe/hk_sub" to ROS "src" directory.

    Example)

    cp -r /home/yuyuqq/roscfe/hk_pub /home/yuyuqq/catkin_ws/src/
cp -r /home/yuyuqq/roscfe/hk_sub /home/yuyuqq/catkin_ws/src/

  6. Edit "roscfe/cfs_converter/relay_base/relay_node_base/launch/Connection.launch". (** You can leave the default **)

    <launch>
  <ros_relay_node protocol="tcp" port="9876" port_send="9877" ip_addr="127.0.0.1" ring_length="30" />
  <cfe_relay_app port="9877" port_send="9876" ip_addr="127.0.0.1" ring_length="30" />
  <include file="./MsgId2Topic.launch" />
</launch>
    • The items that can be set:
      • ros_relay_node tag, cfe_relay_app tag
        • protocol: "tcp" or "udp"
        • port: Relay message receiving port number
        • port_send: Relay message sending port number
        • ip_addr: IP address of the relay message destination (specify "127.0.0.1" for local execution)
        • ring_length: Buffer size of incoming messages

  7. Edit the "roscfe/cfs_converter/relay_base/relay_node_base/launch/MsgId2Topic.launch" as follows.

    <launch>
    <correspond topic="/cfs_hk/ground_command" msg_id="0x189A" cfe_data_type="CFE_SB_CmdHdr_t" ros_data_type="relay_node::CFE_SB_CmdHdr" sender="0" />
    <correspond topic="/cfs_hk/hk_telemetry" msg_id="0x089B" cfe_data_type="HK_HkPacket_t" ros_data_type="relay_node::HK_HkPacket" sender="1" />
</launch>

  8. Go to "roscfe/cfs_converter" and run "start_cfs_relay.sh".

    cd roscfe/cfs_converter
chmod +x start_cfs_relay.sh  
./start_cfs_relay.sh

    • If the execution is successful, the following message will be displayed at the end of the output.

      Finish creating cFS relay app & ROS relay node

    • After execution, "relay_app" directories will be created in the cFE project directory as shown below.

      cFE-6.5.0-OSS-release
    `-- apps
        |-- XXXX
        |-- relay_app
        |-- XXXX
        |-- XXXX
        `-- XXXX

      The "relay_node" directory is created in the ROS workspace as shown below.

      catkin_ws
    `-- src
        |-- relay_node
        |-- XXXX
        `-- XXXX

  9. Copy the "Makefile" from "roscfe/tutorial/ros_cfe_relay/type4/cfe/build/cpu1/Makefile" to cFE "build/cpu1" directory.

    Example)

    cp -r /home/yuyuqq/roscfe/tutorial/ros_cfe_relay/type4/cfe/build/cpu1/Makefile /home/yuyuqq/cFE-6.5.0-OSS-release/build/cpu1/

  10. Copy the "cfe_es_startup.scr" from "roscfe/tutorial/ros_cfe_relay/type4/cfe/build/cpu1/exe/cfe_es_startup.scr" to cFE "build/cpu1/exe" directory.

    Example)

    cp -r /home/yuyuqq/roscfe/tutorial/ros_cfe_relay/type4/cfe/build/cpu1/exe/cfe_es_startup.scr /home/yuyuqq/cFE-6.5.0-OSS-release/build/cpu1/exe/

Build

ROS side

  1. Go to the ROS workspace and run the following command

    catkin_make clean  
catkin_make -i  
catkin_make

cFE side

  1. Go to "cFE-6.5.0-OSS-release" and execute the following commands in order

    . ./setvars.sh
cd build/cpu1  
make config  
make

Run

Follow the procedure below to subscribe to the message delivered by the ROS sample_pub node with the cFE conversion sample_sub app. (** Be sure to execute from the ROS side **)

ROS side

  1. Execute the following command to start roscore

    roscore

  2. Open a new terminal, go to the ROS workspace and execute the following command to start the relay node.

    source devel/setup.bash
rosrun relay_node relay_node

  3. Open a new terminal, go to the ROS workspace and run the following command to launch the hk_pub node

    source devel/setup.bash
roslaunch hk_pub bringup.launch

  4. Open a new terminal, go to the ROS workspace and run the following command to launch the hk_sub node

    source devel/setup.bash
roslaunch hk_sub bringup.launch

cFE side

  1. Go to "cFE-6.5.0-OSS-release" and execute the following commands in order to start the relay application and conversion sample_pub application.

    cd build/cpu1/exe
sudo su
./core-linux.bin

ROS->cFE relay (sending ground command)

  1. Switch the terminal to "hk_pub" node on ROS side, you can see the below message on terminal.

    please enter key.

  2. Hit the enter key, you can see the below message.

    [command_pub][49:03.069608] publish /cfs_hk/ground_command

  3. The following message appears on the terminal "hk_pub" on cFE side. It means the command message from hk_pub has been received.

    ...
[HK][55:12.990908] subscribe 0x189a
EVS Port1 66/1/HK 4: HK No-op command, Version 2.4.1.0
...
``

cFE->ROS relay (sending telemetry)

  1. Hit the enter key on terminal on cFE side, you can see the below message.

    ...
[HK_Driver][14:21.470792] publish 0x189B
[HK][14:21.470802] subscribe 0x189b
[HK][14:21.470884] publish 0x089B
[HK_Driver][14:21.471209] subscribe 0x089B
...

  2. The following message appears on the terminal "hk_sub" on ROS side. It means the telemetry message from hk has been received. "CmdCounter" shows the number of command sent from ROS side so far.

    ...
[show_result][15:46.928565] subscribe /cfs_hk/hk_telemetry
[show_result][15:46.928565] CmdCounter = 0 
...
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