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Package Summary

Tags No category tags.
Version 0.1.1
License Apache License 2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/osrf/nexus.git
VCS Type git
VCS Version main
Last Updated 2025-02-21
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

This package generates zenoh bridge configurations for the NEXUS Network

Additional Links

No additional links.

Maintainers

  • john

Authors

No additional authors.

Network Config Generator

This package simplifies the Zenoh DDS Bridge setup for multiple NEXUS orchestrators through the generation of Zenoh bridge configurations from the following 2 files:

  1. NEXUS Network Configuration: This YAML file describes the properties of different machines such as ROS Domain ID, Zenoh bridge TCP connection endpoints etc. Refer to Quick Start for an example
  2. REDF Configuration: This YAML file describes the ROS Endpoints of the NEXUS orchestrators

First-time setup for deploying a LOCALHOST only environment

  1. Make sure that CycloneDDS is installed and made the default middleware, and that multicast on loopback interface is enabled for localhost-only communication.
./scripts/set_up_network.sh

  1. Create a NEXUS Network configuration. An example is provided in the nexus_poc package at nexus_network_config.yaml Here we have 1 system orchestrator connected to 3 workcell orchestrators, all on different domain IDs from 14 to 17. You can refer to nexus_network_schema.json for the config schema.
# Mode of Zenoh bridge, specified as either 'client' or 'peer'.
# Use 'client' when there is an available Zenoh router, otherwise
# use 'peer' for a distributed system.
mode: peer
# When true, discovery info is forwarded to the remote plugins/bridges
forward_discovery: false
# When true, activates a REST API used to administer Zenoh Bridge configurations
enable_rest_api: true

system_orchestrators:
  - ros_namespace: system_orchestrator # ROS Namespace of the endpoints
    # ROS Domain ID
    domain_id: 14
    # Listening TCP Address of Zenoh bridge
    tcp_listen: "localhost:7447"
    # HTTP Port for the REST API
    rest_api_http_port: 8000

workcell_orchestrators:
  - ros_namespace: workcell_1
    domain_id: 15
    tcp_connect: "localhost:7447"
    rest_api_http_port: 8001

  - ros_namespace: workcell_2
    domain_id: 16
    tcp_connect: "localhost:7447"
    rest_api_http_port: 8002

  - ros_namespace: workcell_3
    domain_id: 17
    tcp_connect: "localhost:7447"
    rest_api_http_port: 8003

  1. Generate zenoh bridge configurations from NEXUS Network config and REDF config. The ZENOH_CONFIGS_OUTPUT_DIRECTORY will be where your zenoh bridge configurations will be saved.
ros2 run nexus_network_configuration nexus_network_configuration -n <PATH_TO_NEXUS_NETWORK_CONFIG> -r <PATH_TO_REDF_CONFIGS> -o <ZENOH_CONFIGS_OUTPUT_DIRECTORY>

CHANGELOG

Changelog for package nexus_network_configuration

0.1.1 (2023-11-20)

0.1.0 (2023-11-06)

  • Provides scripts to generate Zenoh DDS Bridge configurations.

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

No dependencies on ROS packages.

System Dependencies

Dependant Packages

Name Deps
nexus_demos

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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