From 4496a336695b25225defb6da9dd4beeba7868ebe Mon Sep 17 00:00:00 2001 From: Katie Hamilton Date: Tue, 17 Dec 2024 15:56:37 -0800 Subject: [PATCH] Made PR suggested changes. --- .../dds_ground_bridge/NDDS_DISCOVERY_PEERS | 22 +++++++--------- .../ground_dds_ros_bridge.config | 4 ++- .../ground_dds_ros_bridge/readme.md | 26 +++++++++---------- 3 files changed, 25 insertions(+), 27 deletions(-) diff --git a/astrobee/config/communications/dds_ground_bridge/NDDS_DISCOVERY_PEERS b/astrobee/config/communications/dds_ground_bridge/NDDS_DISCOVERY_PEERS index 35ef791374..2df4348326 100644 --- a/astrobee/config/communications/dds_ground_bridge/NDDS_DISCOVERY_PEERS +++ b/astrobee/config/communications/dds_ground_bridge/NDDS_DISCOVERY_PEERS @@ -1,17 +1,13 @@ ;; NDDS_DISCOVERY_PEERS - Default Discovery Configuration File -;;Multicast builtin.udpv4://239.255.0.1 ; default discovery multicast addr +; This basic default configuration limits DDS discovery to peers running on +; the same host. +; For actual space-to-ground usage on the ISS, you will need to add the +; IP address of the relay host. Please reach out to your Astrobee POC +; for this information. ; EVERY LINE IN THIS FILE MUST END IN A COMMENT. Even blank lines. ; -;; Shared Memory -;shmem:// ; All 'shmem' transport plugin(s) -;builtin.shmem:// ; The builtin builtin 'shmem' transport plugin - ; at network address FCC0::0 +127.0.0.1 ; Local host is added by default ; -;; Unicast -; -;; Localhost -127.0.0.1 ; A comma can be used a separator -; -;; Granite Lab - P4 -; -;; Custom entries below this line (Vagrant, etc) +; You'll want to uncomment the next line and substitute the actual relay host +; IP here; check with your Astrobee POC to get it +; 10.0.0.1 ; Relay host IP diff --git a/astrobee/config/communications/ground_dds_ros_bridge.config b/astrobee/config/communications/ground_dds_ros_bridge.config index 0bcd8df1d2..38c1b8649c 100644 --- a/astrobee/config/communications/ground_dds_ros_bridge.config +++ b/astrobee/config/communications/ground_dds_ros_bridge.config @@ -25,7 +25,9 @@ -- Robot we are receiving data from connecting_robot = "Bumble" --- Domain id +-- Domain id, 37 is the ground domain id. +-- The domain id to use for each ISS activity is normally discussed at the Test +-- Readiness Review (TRR). domain_id = 37 -- If the namespace needs to be the connecting robot name, please set to true diff --git a/communications/ground_dds_ros_bridge/readme.md b/communications/ground_dds_ros_bridge/readme.md index 06f3bd6772..e803f0a50b 100644 --- a/communications/ground_dds_ros_bridge/readme.md +++ b/communications/ground_dds_ros_bridge/readme.md @@ -70,18 +70,18 @@ ASTROBEE_CONFIG_DIR=$ASTROBEE_WS/src/astrobee/config/ roslaunch ground_dds_ros_b # Commanding the Robot In order to command Astrobee from the ground, you must grab control of the -robot. Grabbing control of an Astrobee is done in a handshake like manor. First, -you request control, Astrobee sends a cookie, and then you use that cookie to -grab control. You can do this either using ros command line tools or creating -a ros node to do it. The steps are listen to the access control state, issue the -request control command, extract the cookie out of the access control state, and -then send the grab control command with the cookie as an argument in the -command. IMPORTANT, Astrobee uses the command source portion of the command to -determine who has control. Be sure to set the command source to the same thing -every time you issue a command or the robot may reject your command. It is also -helpful to set it to a distinguishing name so that it is clear who is commanding -the robot. For instance, ISAAC used "ISAACGroundSystem" as the command source. -The ISAAC team created a node that grabs control of the robot and issues -commands. If you would like to use it as an example, please see: +robot. Grabbing control of an Astrobee is done in a handshake like manner. +First, you request control, Astrobee sends a cookie, and then you use that +cookie to grab control. You can do this either using ros command line tools or +creating a ros node to do it. The steps are listen to the access control state, +issue the request control command, extract the cookie out of the access control +state, and then send the grab control command with the cookie as an argument in +the command. IMPORTANT, Astrobee uses the command source portion of the command +to determine who has control. Be sure to set the command source to the same +thing every time you issue a command or the robot may reject your command. It is +also helpful to set it to a distinguishing name so that it is clear who is +commanding the robot. For instance, ISAAC used "ISAACGroundSystem" as the +command source. The ISAAC team created a node that grabs control of the robot +and issues commands. If you would like to use it as an example, please see: https://github.com/nasa/isaac/blob/master/communications/ros_gs_bridge/src/ros_gs_bridge.cc