5g-era / relay_network_application Goto Github PK

1. Code
2. Deployment documentation
3. Docker image files
   And also all the docker images should be pushed to the 5G-ERA github docker artifact registry:
   https://ghcr.io/5g-era/

You should use the PAT.
https://docs.github.com/en/packages/working-with-a-github-packages-registry/working-with-the-container-registry#authenticating-w

With the new relay version, the remapping of topic names does not work anymore. It either needs to be configured on the server side or use standard ROS methods to remap the topics.

Implement a bi directorial bridge between ros1 and ros2

A way to handle a poor connection, with policies that allows to drop old message or queue them.

this fixes must be added for Object Detection with ROS2 Humble and ObjectDetection containers v:0.2.0

need to import:
from rclpy.time import Time

image_callback should apply following changes:

def image_callback(image: Any) -> None:
    global image_buffer
    time2 = Time.from_msg(image.header.stamp)
    time_in_nanosecs=time2.nanoseconds

    image_buffer[time_in_nanosecs] = bridge.imgmsg_to_cv2(image, desired_encoding="bgr8")

    # make memory of images limited
    ts_to_keep = sorted(list(image_buffer.keys()))[-60:]
    image_buffer = {key: value for key, value in image_buffer.items() if key in ts_to_keep}
    

Hello,

We are trying to use the relay for sending a ROS 2 topic of type geometry_msgs/msg/PoseWithCovarianceStamped"}] configured like this in relay:

config server:

export TOPIC_TO_PUB_LIST='[{"topic_name": "/amcl_pose", "topic_type": "geometry_msgs/msg/PoseWithCovarianceStamped"}]'

config client:

export TOPIC_LIST='[{"topic_name": "/amcl_pose", "topic_type": "geometry_msgs/msg/PoseWithCovarianceStamped"}]'

We are getting a different value for the QoS from the client to server.

SEND TO RELAY
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: TRANSIENT_LOCAL
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: Infinite

RECEIVED IN RELAY
QoS profile:
Reliability: RELIABLE
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: InfiniteSubscription count: 0

Many thanks!

Add ros2 actions objects and its translation to ros1 topics