First of all you need a running JAUS Node Manager on each host where you start ROS/IOP components. JAUS Node Manager is part of JTS, but we created a script, so you can include it into ROS launch files, see jaus_node_manager.launch. Or you run it directly JTSNodeManager path/to/nm.cfg.
In JAUS/IOP a robot represents a subsystem with all his payloads and computers. For a whole subsystem we have to setup exact one component, which manage the discovering of all IOP/JAUS services. Usually it is a component named platform_manager with node id 15.
<param name="name_subsystem" value="Bob"/>
<node name="iop_platform_manager" pkg="fkie_iop_component" type="iop_component">
<param name="name_node" value="platform manager"/>
<param name="iop_address" value="1.1.15"/>
</node>
IOPv2 defines dynamic address assignment. This feature currently not implemented in ROS/IOP Bridge. You have to define your own JAUS ID with Subsystem.Node.Component.
name_subsystemparameter specifies the name of the subsystem discovered by OCU.
The minimal set of services in platform_manager fontains of:
- urn:jaus:jss:core:Discovery
- urn:jaus:jss:core:Liveness
- urn:jaus:jss:iop:DigitalResourceDiscovery
- urn:jaus:jss:exp:aeodrs:HealthMonitor
Add these services and also all serviceses inherits of to platform_manager:
<param name="name_subsystem" value="Bob"/>
<node name="iop_platform_manager" pkg="fkie_iop_component" type="iop_component">
<param name="name_node" value="platform manager"/>
<param name="iop_address" value="1.1.15"/>
<rosparam param="services">
[
fkie_iop_transport: "Transport",
fkie_iop_events: "Events",
fkie_iop_events: "EventsClient",
fkie_iop_accesscontrol: "AccessControl",
fkie_iop_discovery: "Discovery",
fkie_iop_discovery: "DiscoveryClient",
fkie_iop_liveness: "Liveness",
fkie_iop_digital_resource_discovery: "DigitalResourceDiscovery",
fkie_iop_health_monitor: "HealthMonitor",
]
</rosparam>
</node>
DiscoveryClient service is included to register our own services by Discovery services, so they can be found by other components. EventsClient service is included because DiscoveryClient inherits of it.
Now we have to configure the Discovery service to enable the service registration management:
<param name="name_subsystem" value="Bob"/>
<node name="iop_platform_manager" pkg="fkie_iop_component" type="iop_component">
<param name="name_node" value="platform manager"/>
<param name="iop_address" value="1.1.15"/>
<rosparam param="services">
[
fkie_iop_transport: "Transport",
fkie_iop_events: "Events",
fkie_iop_events: "EventsClient",
fkie_iop_accesscontrol: "AccessControl",
fkie_iop_discovery: "Discovery",
fkie_iop_discovery: "DiscoveryClient",
fkie_iop_liveness: "Liveness",
fkie_iop_digital_resource_discovery: "DigitalResourceDiscovery",
fkie_iop_health_monitor: "HealthMonitor",
]
</rosparam>
<rosparam subst_value="true">
Discovery:
# 2: Subsystem Identification, 3: Node Identification, 4: Component Identification
system_id: 2
# 10001: VEHICLE, 20001: OCU, 30001: OTHER_SUBSYSTEM, 40001: NODE, 50001: PAYLOAD, 60001: COMPONENT
system_type: 10001
</rosparam>
</node>
This is the minimal configuration. The robot will be discovered by IOP OCU but will not provide any functional services. You can add this services to the platform_manager component or create a new one. See iop_costmap2d component in fkie_iop_cfg_sim_stage example.
Now we create a minimal configuration for a component running on OCU. You have to also specify the JAUS ID and can define a name:
<node name="iop_ocu_client" pkg="fkie_iop_component" type="iop_component">
<param name="iop_address" value="150.64.200"/>
<param name="name_node" value="control_client"/>
<rosparam param="services">
[
fkie_iop_transport: "Transport",
fkie_iop_events: "EventsClient",
fkie_iop_discovery: "DiscoveryClient",
]
</rosparam>
<rosparam subst_value="true">
use_queries: false
DiscoveryClient:
register_own_services: false
enable_ros_interface: true
</rosparam>
</node>
To discover the IOP robot you have to include the DiscoveryClient:
<node name="iop_ocu_client" pkg="fkie_iop_component" type="iop_component">
<param name="iop_address" value="150.64.200"/>
<param name="name_node" value="control_client"/>
<rosparam param="services">
[
fkie_iop_transport: "Transport",
fkie_iop_events: "EventsClient",
fkie_iop_discovery: "DiscoveryClient",
]
</rosparam>
</node>
Since the DsicoveryClient also used to register own services by Discovery services, the ROS interface for discovered services is disabled by default. You have to enable this by setting the parameter enable_ros_interface to true. Furthermore you can disable the registration of client service of the OCU, since they consumes only the functionality of robot service. And there is no need to register them in the subsystem:
<node name="iop_ocu_client" pkg="fkie_iop_component" type="iop_component">
<param name="iop_address" value="150.64.200"/>
<param name="name_node" value="control_client"/>
<rosparam param="services">
[
fkie_iop_transport: "Transport",
fkie_iop_events: "EventsClient",
fkie_iop_discovery: "DiscoveryClient",
]
</rosparam>
<rosparam subst_value="true">
DiscoveryClient:
register_own_services: false
enable_ros_interface: true
</rosparam>
</node>
If you now launch JAUS Node Manager and new launch files you get the discovered system overview on OCU by calling
rostopic echo /iop_system
As with the robot, you can extend the functionality of the OCU client component by adding the services to the services parameter.
Note: for services, which control the robot, you need to get access control (for managed services also resume from standby). For these porposes it is easier to use the rqt plugin from fkie_iop_rqt_access_control.