No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
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:
- 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
- REDF Configuration: This YAML file describes the ROS Endpoints of the NEXUS orchestrators
First-time setup for deploying a LOCALHOST only environment
- 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
- 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
- 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.
Recent questions tagged nexus_network_configuration at Robotics Stack Exchange
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.