rosmod / rosmct

Development of an openmct system for telemetry of ros systems

ROSMOD - Quick Start Guide

Clone Repository

$ git clone --recursive http://github.com/rosmod/rosmod

This Repository contains:

• ROSMOD GUI v0.3
• ROSMOD Component Model
• Test Samples

Dependencies

• Antlr Python2 Runtime 4.4.1
• Cheetah 2.4.4
• Fabric 1.10.1
• TermEmulator 1.0
• wxPython 2.8
• dtach

$ cd <REPOSITORY_HOME>/utils
$ sudo ./dependencies.py

ROSMOD GUI

$ cd <REPOSITORY_HOME>/gui
$ python __main__.py

• Add the following line to ~/.bashrc

alias rosmod='python ~/PATH_TO_REPOSITORY_HOME/gui/__main__.py'

ROSMOD Communication Layer

• The ROSMOD Communication Layer is a modified version of the ros_comm communication layer in ROS.
• ROSMOD introduces PFIFO and EDF-based scheduling schemes to the ROS callback queue.
• ROSMOD also facilitates deadline monitoring i.e. deadline violation detection and logging for all callbacks.

$ cd <REPOSITORY_HOME>/comm
$ catkin_make -DCMAKE_INSTALL_PREFIX=/opt/ros/<ROS_VERSION> install

rosmct's Issues

Properly shutdown a ros system when notified it is closed

unsubscribe
remove from collection
etc

Explore publishing topic from client

structure repo as a software bundle and plugin to be added to an openmct deployment

Model after

https://github.com/hudsonfoo/kerbal-openmct

but accounting for updates to the mct plugin and telemetry structure

Use a common identifier scheme for both client and server side

Break it out in to an identifier utilities module

Implement basic user controls

related to #24

Error message appears when clicking on telemetry point

TypeError: Cannot read property 'then' of null

Roscore Status Notification

Notification to server of the addition/removal of a roscore (and therefore a ros deployment)

Notification Object:

{
  name: SYSTEM_NAME,
  master_uri: ROS_MASTER_URI,
  status: OPEN/CLOSE
}

Object Provider Plugin

Split topic values into individual telemetry points

combine with #27 for properly referencing a topic value and then change object provider to return an individual telemetry object for each value. Topics will then be folders containing these telemetry points.

document current files

add comments

Handle topic value being an array

Add persistence to created objects

Display images

Provide a view to interpret an array as image data.

related to #25

Dictionary generation should set dict entry names to concatenation of system and topic name

Allows unique identification of topics

change from

{
name: /topicname,
key: topictype,
...
}

to

{
name: systemname/topicname,
key: topictype
...
}

move rosmct to openmct.plugins

reference how the sine generator is set up in https://github.com/nasa/openmct/blob/a51b9bc63f738e04cb877626371b07bd6b924a27/src/plugins/plugins.js#L26

Flesh out README

script to launch rosbridge and set up env variables with provided paths

pass in options object

{
env_variable: env_value
...
}

fix dictionary generation for a RosSys

How to read the topics on the website

Hello! I know this is still in process but I was wondering how to connect the OpenMCT to Rosbridge. I was able to run the test nodes and successfully connect to the ROSCORE running on the computer. However, on the website I cannot see any topic.

Thank you again, I hope this project is still in works.

Rate limited subscriptions

dictionary request handler implemented as req/res?

potential issues with a blocking call

Server Adapter Plugin

create a ros-system-collection to hold and operate on a group of ros systems

Allow openMCT to pull updated dictionaries when a ros system is added or removed

Still active

Is this project still active?

Each ros system displays all topics advertised for roscore

If multiple systems shared the same roscore, each system would see every topic

Retain data history within a ros system

Upon receipt of a subscribed topic save it to some form of database for future polling.

Implement zmq for subscription handling

using pub/sub in zmq instead of subscription handling via real time server. each RosSys can publish with a topic for each telemtry point.

Telemetry provider plugin

allow realtime server to handle subscribing mulitple ros systems

incorporate object namespace into subscription handling to handle multiple ros systems

Websocket handler for polling history of a topic

related to #13

Composition Provider Plugin

only subscribe to a topic on the server side when a client is subscribed to that topic

If a tree falls in a forest and no one is around to hear it, does it make a sound?

No, no it should not.

Spawn rosbridge in new shell to connect to a roscore

Spawn a worker process to contain rosbridge and roslib interfaces for each roscore.

Rosbridge needs to run in a new shell for each roscore.

Needs to:

1. source message definitions for all packages on the system
2. generate a unique port to reside on

Maintain set of RosSys connections and their details

When a rosbridge shell is spawned inside a worker process, connect to it with roslib and notify the master process of connection details.