Important Note

**Our full conference paper has been accepted by IROS 2023. Please refer to arxiv for more details. This repo was earlier attempt to implement SGC, but we realize the performance overhead of Python is too large, so we use a full rust implementation, please refer to repo. This repo is then archived for good. **

What the code does:

Setup Env

Install ROS2 properly by link and create a local ROS workspace.

mkdir -p ~/fog_ws/src
cd ~/fog_ws/src
git clone [email protected]:KeplerC/gdp-for-ros.git
cd ../
colcon build
source install/setup.bash

Install pythons depenencies by

pip3 install PyDispatcher scapy

To run

Step 1: import the ROS env

cd ~/fog_ws
source install/setup.bash

This needs to be done on every new terminals.

Step 2: build

colcon build

Whenever there is code changes, a new build is required.

Step 3: Run First start the pseudo gdp infrastructure by

python3 fake_gdp_infrastructure.py

then run the sample talker and listener by

ros2 run gdp_proxy_for_ros talker

and

 ros2 run gdp_proxy_for_ros listener

The talker publishes to the topic named topic and the listener subscribes to /gdp/topic.

Then run

ros2 run gdp_proxy_for_ros proxy

that bridges the topic and gdp/topic together. The messages in topic are serialized and propaged through fake_gdp_infrastructure.py implemented by zmq. (TODO:Jiachen, replace with the real router).

Note

1. The code adopts the code from draft PR from DFKI-NI/rospy_message_converter#56, because ROS2 lacks message serialization schemes.
2. several convienient commands

colcon build && ros2 run gdp_proxy_for_ros proxy
ros2 topic list
ros2 topic echo /gdp/topic
ros2 topic info /topic