swgu931 / cloud_bridge

This package helps to communicate between networks with ros2 messages.

cloud_bridge (foxy version)

ROS2 message bridge between networks using zmq library

rosdep install

in workspace home

rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy

Build

Please setup ROS2 environment first!

source /opt/ros/foxy/setup.bash
colcon build --packages-up-to cloud_bridge

Usage

common configuration

set up ros2 configuration (ex. topic url, msg type, tf, etc.)

config/param.yaml

topic

  scan:
    topic: "scan"
    msg: "sensor_msgs/msg/LaserScan"
    qos: "sensor_data"

tf

  map_odom:
    base_frame: "map"
    child_frame: "odom"

server

set up manage port and message port for zmq. set up ros2 datas refer to param.yaml

configuration

config/server.yaml

run server

ros2 launch cloud_bridge cloud_bridge_server.launch.py

client

set up server ip and manage port for server connect. set up ros2 datas refer to param.yaml

configuration

config/client.yaml

run client

ros2 launch cloud_bridge cloud_bridge_client.launch.py

Version info

• Please refer to each branch for ROS2 distro-version you want
  • dashing
  • foxy