bluetooth_monitor

Description

This node monitors a Bluetooth connection to a wireless device by using L2ping.
L2ping generates PING echo command on Bluetooth L2CAP layer, and it is able to receive and check echo response from a wireless device.

Block diagram

L2ping is only allowed for root by default, so this package provides the following approach to minimize security risks as much as possible:

• Provide a small program named l2ping_service which performs L2ping and provides wireless device information to bluetooth_monitor by using socket programming.
• bluetooth_monitor is able to know wireless device information and L2ping status as an unprivileged user since those information are sent by socket communication.

Output

bluetooth_monitor: bluetooth_connection

[summary]

[values]

• The following key will be added when bluetooth_monitor reports Function error.
  ex.) The connect system call failed.

Parameters

{{ json_to_markdown(“system/autoware_bluetooth_monitor/schema/bluetooth_monitor.schema.json”) }}

• rtt_warn

  • 0.00(zero): Disable checking RTT
  • otherwise: Check RTT with specified seconds

• addresses

  • *: All connected devices
  • AA:BB:CC:DD:EE:FF: You can specify a device to monitor by setting a Bluetooth address

Instructions before starting

• You can skip this instructions if you run l2ping_service as root user.

1. Assign capability to l2ping_service since L2ping requires cap_net_raw+eip capability.

   sudo setcap 'cap_net_raw+eip' ./build/bluetooth_monitor/l2ping_service
   

1. Run l2ping_service and bluetooth_monitor.

   ./build/bluetooth_monitor/l2ping_service
   ros2 launch autoware_bluetooth_monitor bluetooth_monitor.launch.xml
   

Known limitations and issues

None.

\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package autoware_bluetooth_monitor \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat: apply [autoware_]{.title-ref} prefix for [bluetooth_monitor]{.title-ref} (#9960)
  • feat(bluetooth_monitor): apply [autoware_]{.title-ref} prefix (see below):

  * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits.

  • The changes will follow the Autoware's guideline as below:
  • https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder
  • rename(bluetooth_monitor): move headers under `include/autoware`:
  • Fixes due to this changes for .hpp/.cpp files will be applied in the next commit
  • fix(bluetooth_monitor): fix include paths
  • To follow the previous commit
  • bug(bluetooth_monitor): fix a missing prefix bug
  • rename: [bluetooth_monitor]{.title-ref} => [autoware_bluetooth_monitor]{.title-ref}
  • style(pre-commit): autofix
  • bug(autoware_bluetooth_monitor): revert wrongly updated copyrights
  • bug(autoware_bluetooth_monitor): [autoware_]{.title-ref} prefix is not needed here
  • update: [CODEOWNERS]{.title-ref}

  * update(autoware_bluetooth_monitor): [README.md]{.title-ref} ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• Contributors: Fumiya Watanabe, Junya Sasaki

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(cpplint): include what you use - system (#9573)
• 0.39.0
• update changelog
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• fix(docs): fix file name for bluetooth monitor schema (#8308)
  • fix file name for schema

  * the variable name should be addresses instead ---------

• fix(bluetooth_monitor): fix unreadVariable (#8371) fix:unreadVariable
• fix(bluetooth_monitor): apply cppcheck-suppress for cstyleCast (#7869)
• Contributors: Koichi98, Yutaka Kondo, Yuxuan Liu, kobayu858

0.26.0 (2024-04-03)

• refactor(bluetooth_monitor): rework parameters (#5239)
  • refactor(bluetooth_monitor): rework parameters
  • style(pre-commit): autofix
  • doc(bluetooth_monitor): fix default for integer parameters
  • doc(bluetooth_monitor): add default for parameter addresses
  • style(pre-commit): autofix

  * doc(bluetooth_monitor): fix parameter description ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• build: mark autoware_cmake as <buildtool_depend> (#3616) * build: mark autoware_cmake as <buildtool_depend> with <build_depend>, autoware_cmake is automatically exported with ament_target_dependencies() (unecessary)
  • style(pre-commit): autofix

  * chore: fix pre-commit errors ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>

• chore: sync files (#3227)
  • chore: sync files

  * style(pre-commit): autofix ---------Co-authored-by: kenji-miyake <<kenji-miyake@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• build(bluetooth_monitor): add build dependency (#2738)
• ci(pre-commit): format SVG files (#2172)
  • ci(pre-commit): format SVG files
  • ci(pre-commit): autofix

  * apply pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat(bluetooth_monitor): run bluetooth monitor with new parameter (#1111)
  • feat(bluetooth_monitor): run bluetooth monitor with new parameter
  • ci(pre-commit): autofix

  * Fixed a build error in humble Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• feat(bluetooth_monitor): add functionality to monitor Bluetooth connection (#862)
  • feat(bluetooth_monitor): add functionality to monitor Bluetooth connection
  • ci(pre-commit): autofix
  • Fixed a typo
  • Add a dependency
  • Fixed pre-commit errors
  • ci(pre-commit): autofix
  • Fixed pre-commit errors
  • Fixed uncrustify errors
  • ci(pre-commit): autofix
  • use autoware_cmake
  • Fixed license, Fixed CMakeLists.txt, and Use register_node_macro
  • Fixed license
  • Fixed link title
  • changed the way to run l2ping
  • ci(pre-commit): autofix
  • fixed clang tidy error and removed unnecessary dependencies in CMakeLists.txt

  * corrected dependency in package.xml Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

• Contributors: Esteve Fernandez, Kenji Miyake, Vincent Richard, Yuqi Huai, awf-autoware-bot[bot], ito-san