Important Note

It's still a proof of concept implementation that is not planned to be used by anyone. A few links that might be helpful:

• [Our rust GDP router] (https://github.com/JiachenYuan/gdp-router)
• [Our Workshop arxiv] (https://arxiv.org/abs/2210.11691)

What the code does:

Setup Env

Install ROS2 properly by link and create a local ROS workspace.

mkdir -p ~/fog_ws/src
cd ~/fog_ws/src
git clone git@github.com:KeplerC/gdp-for-ros.git
cd ../
colcon build
source install/setup.bash

Install pythons depenencies by

pip3 install PyDispatcher scapy

To run

Step 1: import the ROS env

cd ~/fog_ws
source install/setup.bash

This needs to be done on every new terminals.

Step 2: build

colcon build

Whenever there is code changes, a new build is required.

Step 3: Run First start the pseudo gdp infrastructure by

python3 fake_gdp_infrastructure.py

then run the sample talker and listener by

ros2 run gdp_proxy_for_ros talker

and

 ros2 run gdp_proxy_for_ros listener

The talker publishes to the topic named topic and the listener subscribes to /gdp/topic.

Then run

ros2 run gdp_proxy_for_ros proxy

that bridges the topic and gdp/topic together. The messages in topic are serialized and propaged through fake_gdp_infrastructure.py implemented by zmq. (TODO:Jiachen, replace with the real router).

Note

1. The code adopts the code from draft PR from DFKI-NI/rospy_message_converter#56, because ROS2 lacks message serialization schemes.
2. several convienient commands

colcon build && ros2 run gdp_proxy_for_ros proxy
ros2 topic list
ros2 topic echo /gdp/topic
ros2 topic info /topic