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Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-09-19 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Bluetooth alive monitoring
Additional Links
No additional links.
Maintainers
- Fumihito Ito
Authors
No additional authors.
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 tobluetooth_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]
level | message |
---|---|
OK | OK |
WARN | RTT warning |
ERROR | Lost |
Function error |
[values]
key | value (example) |
---|---|
Device [0-9]: Status | OK / RTT warning / Verify error / Lost / Ping rejected / Function error |
Device [0-9]: Name | Wireless Controller |
Device [0-9]: Manufacturer | MediaTek, Inc. |
Device [0-9]: Address | AA:BB:CC:DD:EE:FF |
Device [0-9]: RTT | 0.00ms |
- The following key will be added when
bluetooth_monitor
reportsFunction error
.
ex.) Theconnect
system call failed.
key (example) | value (example) |
---|---|
Device [0-9]: connect | No such file or directory |
Parameters
{{ json_to_markdown(“system/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.
- Assign capability to
l2ping_service
since L2ping requirescap_net_raw+eip
capability.
sudo setcap 'cap_net_raw+eip' ./build/bluetooth_monitor/l2ping_service
- Run
l2ping_service
andbluetooth_monitor
.
./build/bluetooth_monitor/l2ping_service
ros2 launch bluetooth_monitor bluetooth_monitor.launch.xml
Known limitations and issues
None.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
Deps | Name |
---|---|
ament_cmake_auto | |
autoware_cmake | |
ament_lint_auto | |
autoware_lint_common | |
diagnostic_msgs | |
diagnostic_updater | |
rclcpp | |
rclcpp_components |
System Dependencies
Dependant Packages
No known dependants.
Launch files
- launch/bluetooth_monitor.launch.xml
-
- bluetooth_monitor_param_file [default: $(find-pkg-share bluetooth_monitor)/config/bluetooth_monitor.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged bluetooth_monitor at Robotics Stack Exchange
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