mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
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Feature/foxy migration (#30)
* Adding rosidl_cmake * Updated XML generation * Updated readme * Update README.md
This commit is contained in:
Pablo Garrido
@@ -5,3 +5,31 @@
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ROS 2 package using Micro XRCE-DDS Agent.
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## Overview
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This repository contains the Micro-ROS Agent package.
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Micro-ROS Agent is a ROS 2 node that wraps the Micro XRCE-DDS Agent.
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For further information about Micro XRCE-DDS Agent click [here](https://github.com/eProsima/Micro-XRCE-DDS-Agent)
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This package is a part of the Micro-ROS project stack.
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For more information about Micro-ROS project click [here](https://microros.github.io/micro-ROS/).
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The node acts as a server between DDS Network and Micro-ROS nodes inside MCU.
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It receives and send messages from Micro-ROS nodes, and keep track of the Micro-ROS nodes exposing them to the ROS 2 network.
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The node interacts with DDS Global Data Space on behalf of the Micro-ROS nodes.
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## Package features
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### XML generation
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During the build process, the package looks for all ROS 2 messages to generate an initial list of XML profiles.
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These profiles can are referenced in the Agent-Client communication to avoid sending the full XML content.
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This reference mechanism can be switched on and off from the Micro XRCE-DDS middleware layer.
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### Agent-Client communication mechanism
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Communication between the Micro-ROS Agent and the Micro-ROS nodes supports two types of transport:
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- UDP and TCP over IPv4 and IPv6.
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- Serial Port transports.
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All available configurations are supported directly by the Micro XRCE-DDS agent.
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@@ -23,6 +23,7 @@ project(micro_ros_agent LANGUAGES CXX)
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find_package(ament_cmake REQUIRED)
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find_package(microxrcedds_agent REQUIRED)
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find_package(rosidl_cmake REQUIRED)
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add_executable(${PROJECT_NAME} src/main.cpp)
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@@ -79,12 +80,11 @@ if(UROSAGENT_GENERATE_PROFILE)
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get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
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set(_PYTHON_SCRIPT_HEAD
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"
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import os\n
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import sys\n
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sys.path.append('${_OUTPUT_PATH}')\n
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from ${_PYTHON_PKG_TOOL} import *\n
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"
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"import os
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import sys
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sys.path.append('${_OUTPUT_PATH}')
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from ${_PYTHON_PKG_TOOL} import *
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"
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)
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file(
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@@ -164,21 +164,20 @@ def generate_XML(args):
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# Generate source file path
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src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
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# Data writer
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#file_content = " <dds>\n"
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file_content = " <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content = " <dds>\n"
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file_content += " <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <kind>NO_KEY</kind>\n"
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file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " </topic>\n"
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file_content += " </data_writer>\n"
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#file_content += " </dds>\n"
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file_content += " </dds>\n"
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# Data reader
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#file_content += " <dds>\n"
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file_content += " <dds>\n"
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file_content += " <data_reader profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <kind>NO_KEY</kind>\n"
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@@ -186,16 +185,16 @@ def generate_XML(args):
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file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " </topic>\n"
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file_content += " </data_reader>\n"
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#file_content += " </dds>\n"
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file_content += " </dds>\n"
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# Topic
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#file_content += " <dds>\n"
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file_content += " <dds>\n"
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file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
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file_content += " </topic>\n"
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#file_content += " </dds>\n"
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file_content += " </dds>\n"
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# Write file content
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@@ -11,6 +11,7 @@
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<buildtool_export_depend>ament_cmake</buildtool_export_depend>
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<depend>microxrcedds_agent</depend>
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<depend>rosidl_cmake</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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