Comms bridge #756
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Comms bridge #756
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…at location would work
trey0
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Nov 20, 2023
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Thanks for sharing this! Great to see how far it's coming along.
Comments mostly trivial.
I had a hard time understanding how to estimate the memory usage. The 128K per content message buffer allocation could potentially get bad quickly if we aren't careful. But maybe it doesn't matter for ISAAC in the near term if we don't subscribe to high-rate messages.
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Added an out topic to link entries so one can specify an out topic name if the8y want. Also added code so that all topics don't go to all robots.
The comms bridge was changed to start the dds subscribers and publishers either on start up if specified in the comms bridge configuration file or when the executive calls the enable comms service. This matches how the current astrobee to astrobee bridge works.
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bcoltin
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astrobee/config/communications/dds_generic_comms/NDDS_DISCOVERY_PEERS
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| @@ -71,11 +71,11 @@ echo " Analysing python code style with 'isort'." | |||
| # could happen for example if the .isort.cfg src_paths list gets out | |||
| # of date. | |||
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| if $(isort . --extend-skip cmake --profile black --diff --check-only --quiet >/dev/null); then | |||
| if $(isort . --extend-skip cmake,submodules --profile black --diff --check-only --quiet >/dev/null); then | |||
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Interesting. Should we propagate this change to the isaac repo? Not sure why the relevant commands are different.
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(To answer my own question: "Yes." nasa/isaac#123 )
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This is the comms bridge that allows any ros message to be sent between robots without having to specifically add ros to dds and vice versa code.