ROS2 ATR Interfaces

ROS2 Packages for the ATR communication interfaces

The documentation of the project can be found here: https://edeanl.github.io/ATR_Interfaces

Description

This repository provides ros2 packages with the communication interfaces for the ATRs.

The scenario includes the following modules:

1. ATR Formations
2. Global to Discrete Pose
3. Job-based ATR Scheduler
4. Discrete to Global Pose
5. RTSP Stream
6. ATR Tracker
7. Semantic Segmentation
8. NONA Generator
9. Dynamic Obstacle Prediction
10. ATR Trajectory Generator
11. ATR Fleet Control
12. ATR Control
13. ROS2-Redis Bridge

The ros packages have been tested in Ubuntu 20.04 with ROS Foxy.

It provides three ros packages:

• atr_interfaces: With the msg and srv definitions
• atr_examples: C++ implementations of the nodes for the ATR scenario using the atr_interfaces
• atr_examples_py: Some examples in python (needs more work)

Usage

Copy the ros packages to your ros2 workspace:

cp atr_interfaces atr_examples /home/usr/ros_workspace/src/

Source your ros distro:

source /opt/ros/foxy/setup.bash

Compile your workspace, e.g.

cd /home/usr/ros_workspace/src/
colcon build --symlink-install --merge-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DCMAKE_CXX_STANDARD=14

There’s a launch file (python) that will run all the nodes and visualization tools. In that python file, you can see which are the used nodes for this demo.

cd /home/usr/ros_workspace/src/
source install/setup.bash
ros2 launch atr_examples atr_interfaces_test_launch.py

The active nodes for this demo are the following:

TODO

The documentation of the modules is not complete, for now, the links point to the same draft pdf file.

Missing modules:

• Global to Discrete Pose
• Job-based ATR Scheduler
• Discrete to Global Pose
• RTSP Stream
• ROS2-Redis Bridge