Pprzros - Revision history

Guido: /* Example: Ping/Pong */

2017-07-31T14:20:18Z

Example: Ping/Pong

← Older revision		Revision as of 08:20, 31 July 2017
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	<node pkg="rostopic" type="rostopic" name="send_ping" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>		<node pkg="rostopic" type="rostopic" name="send_ping" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>

	Finally, we create a node, from the ''rostopic'' package, to subscribe to the /pprzros/to_ros topic and listen if any PONG is message is answering our PINGs.		Finally, we create a node, from the ''rostopic'' package, to subscribe to the /pprzros/to_ros topic and listen if any PONG message is answering our PINGs.
	<node pkg="rostopic" type="rostopic" name="echo_pong" args="echo -c /pprzros/to_ros" output="screen"/>		<node pkg="rostopic" type="rostopic" name="echo_pong" args="echo -c /pprzros/to_ros" output="screen"/>

	<br/>- Under development -		<br/>- Under development -

Guido: /* Example: Ping/Pong */

2017-07-31T14:19:44Z

Example: Ping/Pong

← Older revision		Revision as of 08:19, 31 July 2017
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	<node pkg="pprzros" type="pprzros_run" name="pprzros" args="udp -d 192.168.1.1" output="screen"/>		<node pkg="pprzros" type="pprzros_run" name="pprzros" args="udp -d 192.168.1.1" output="screen"/>

	Then, the ''rostopic'' package is called to create a node publishing a given message. This message is published on the /pprzros/from_ros topic and is of type PprzrosMsg. The content of the message is then described in YAML format. We can see here that it is a simple PING message, so there is no content (data == []). For the communication to work properly, '''~~Please~~ check that the receiver_id and sender_id match the ones your are using in your setting'''.		Then, the ''rostopic'' package is called to create a node publishing a given message. This message is published on the /pprzros/from_ros topic and is of type PprzrosMsg. The content of the message is then described in YAML format. We can see here that it is a simple PING message, so there is no content (data == []). For the communication to work properly, '''please check that the receiver_id and sender_id match the ones your are using in your setting'''.
	<node pkg="rostopic" type="rostopic" name="send_ping" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>		<node pkg="rostopic" type="rostopic" name="send_ping" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>

Guido: /* Example: Ping/Pong */

2017-07-31T14:19:24Z

Example: Ping/Pong

← Older revision		Revision as of 08:19, 31 July 2017
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	<node pkg="pprzros" type="pprzros_run" name="pprzros" args="udp -d 192.168.1.1" output="screen"/>		<node pkg="pprzros" type="pprzros_run" name="pprzros" args="udp -d 192.168.1.1" output="screen"/>

	Then, the ''rostopic'' package is called to create a node publishing a given message. This message is published on the /pprzros/from_ros topic and is of type PprzrosMsg. The content of the message is then described in YAML format. We can see here that it is a simple PING message, so there is no content (data == []).		Then, the ''rostopic'' package is called to create a node publishing a given message. This message is published on the /pprzros/from_ros topic and is of type PprzrosMsg. The content of the message is then described in YAML format. We can see here that it is a simple PING message, so there is no content (data == []). For the communication to work properly, '''Please check that the receiver_id and sender_id match the ones your are using in your setting'''.
	<node pkg="rostopic" type="rostopic" name="send_ping" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>		<node pkg="rostopic" type="rostopic" name="send_ping" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>

Guido: /* Stack content */

2017-07-31T14:17:22Z

Stack content

← Older revision		Revision as of 08:17, 31 July 2017
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	== Stack content ==		== Stack content ==
	The PPRZROS ~~stack~~ contains four ~~packages~~:		The PPRZROS repository contains four folders:
	* PPRZLINK: contains the interfaces needed to communicate with ~~the~~ Paparazzi through UDP, Serial and Ivy. It is ~~required~~ by PPRZROS in order to communicate with the Paparazzi world.		* PPRZLINK: contains the interfaces needed to communicate with Paparazzi through UDP, Serial and Ivy. It is used by PPRZROS in order to communicate with the Paparazzi world.
	* PPRZROS: this package contains the code for creating a node capable of communicating both with ROS and Paparazzi. It relies on ROS ~~interfaces~~ and PPRZLINK.		* PPRZROS: this package contains the code for creating a node capable of communicating both with ROS and Paparazzi. It relies on ROS and PPRZLINK interfaces.
	* PPRZROS_MSGS: this package ~~only~~ contains ROS message definitions. For now it only contains a generic message, but more useful messages ~~will~~ be added in the futur.		* PPRZROS_MSGS: this package contains ROS message definitions. For now it only contains a generic message, but more useful messages can be added in the futur.
	* SLAMDUNK_PPRZ: Todo		* SLAMDUNK_PPRZ: Todo

Guido at 14:15, 31 July 2017

2017-07-31T14:15:15Z

← Older revision		Revision as of 08:15, 31 July 2017
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	== Example: Ping/Pong ==		== Example: Ping/Pong ==
	An example is provided in pprzros/launch/pingpong.launch. A rostopic node is created to send a Ping to a Paparazzi simulator through PPRZROS and the outgoing Pong is ouput on the screen.		An example is provided in pprzros/launch/pingpong.launch. A rostopic node is created to send a Ping to a Paparazzi simulator through PPRZROS and the outgoing Pong is transmitted to ROS and ouput on the screen.
	[[File:Pingpong.png\|thumb\|The nodes and topics created in the Ping/Pong example]]		[[File:Pingpong.png\|thumb\|The nodes and topics created in the Ping/Pong example]]
	We will go through the pingpong.launch file it to understand the process.		We will go through the pingpong.launch file it to understand the process.

Guido: /* Example: Ping/Pong */

2017-07-31T14:13:13Z

Example: Ping/Pong

← Older revision		Revision as of 08:13, 31 July 2017
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	<launch>		<launch>
	<node pkg="pprzros" type="pprzros_run" name="pprzros" args="udp -d 192.168.1.1" output="screen"/>		<node pkg="pprzros" type="pprzros_run" name="pprzros" args="udp -d 192.168.1.1" output="screen"/>
	<node pkg="rostopic" type="rostopic" name="~~send_test_ping~~" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>		<node pkg="rostopic" type="rostopic" name="send_ping" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>
	<node pkg="rostopic" type="rostopic" name="~~echo_test_pong~~" args="echo -c /pprzros/to_ros" output="screen"/>		<node pkg="rostopic" type="rostopic" name="echo_pong" args="echo -c /pprzros/to_ros" output="screen"/>
	</launch>		</launch>

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	Then, the ''rostopic'' package is called to create a node publishing a given message. This message is published on the /pprzros/from_ros topic and is of type PprzrosMsg. The content of the message is then described in YAML format. We can see here that it is a simple PING message, so there is no content (data == []).		Then, the ''rostopic'' package is called to create a node publishing a given message. This message is published on the /pprzros/from_ros topic and is of type PprzrosMsg. The content of the message is then described in YAML format. We can see here that it is a simple PING message, so there is no content (data == []).
	<node pkg="rostopic" type="rostopic" name="~~send_test_ping~~" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>		<node pkg="rostopic" type="rostopic" name="send_ping" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>

	Finally, we create a node, from the ''rostopic'' package, to subscribe to the /pprzros/to_ros topic and listen if any PONG is message is answering our PINGs.		Finally, we create a node, from the ''rostopic'' package, to subscribe to the /pprzros/to_ros topic and listen if any PONG is message is answering our PINGs.
	<node pkg="rostopic" type="rostopic" name="~~echo_test_pong~~" args="echo -c /pprzros/to_ros" output="screen"/>		<node pkg="rostopic" type="rostopic" name="echo_pong" args="echo -c /pprzros/to_ros" output="screen"/>

	<br/>- Under development -		<br/>- Under development -

Guido: Added an image to explain the pingpong demo

2017-07-28T14:39:38Z

Added an image to explain the pingpong demo

← Older revision		Revision as of 08:39, 28 July 2017
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	The following section contains an example .launch showing, among other things, how to start a PPRZROS node.		The following section contains an example .launch showing, among other things, how to start a PPRZROS node.

	== Example ==		== Example: Ping/Pong ==
	An example is provided in pprzros/launch/pingpong.launch.		An example is provided in pprzros/launch/pingpong.launch. A rostopic node is created to send a Ping to a Paparazzi simulator through PPRZROS and the outgoing Pong is ouput on the screen.
	We will go through it to ~~show how a message can be sent to~~ the ~~Paparazzi Destination from ROS~~.		[[File:Pingpong.png\|thumb\|The nodes and topics created in the Ping/Pong example]]
			We will go through the pingpong.launch file it to understand the process.
	<?xml version="1.0"?>		<?xml version="1.0"?>
	<launch>		<launch>

Guido: /* Overview */ Changing /to_ros and /from_ros to /pprzros/to_ros and /pprzros/from_ros

2017-07-28T14:29:20Z

Overview: Changing /to_ros and /from_ros to /pprzros/to_ros and /pprzros/from_ros

← Older revision		Revision as of 08:29, 28 July 2017
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	More specifically, incoming paparazzi messages are converted into a generic ROS message containing generic information about the message and the binary data associated with the message. Messages coming in ROS format are translated to a generic paparazzi message with the same format: generic information and data in binary form.<br/>		More specifically, incoming paparazzi messages are converted into a generic ROS message containing generic information about the message and the binary data associated with the message. Messages coming in ROS format are translated to a generic paparazzi message with the same format: generic information and data in binary form.<br/>
	To start the PPRZROS node, it requires a connexion type (UDP, Serial or Ivy) and a ''Destination'' (plus some other optional infos). Once started the PPRZROS node will create two ROS topics:		To start the PPRZROS node, it requires a connexion type (UDP, Serial or Ivy) and a ''Destination'' (plus some other optional infos). Once started the PPRZROS node will create two ROS topics:
	* /to_ros : PPRZROS is publishing in this topic. Messages coming from the ''Destination'' will be translated into ROS format and published on this topic.		* /pprzros/to_ros : PPRZROS is publishing in this topic. Messages coming from the ''Destination'' will be translated into ROS format and published on this topic.
	* /from_ros : PPRZROS is subscribing (listening) to this topic. Any message sent to this topic, by other ROS nodes (programs), will be translated into a Paparazzi message and sent to the ''Destination''.		* /pprzros/from_ros : PPRZROS is subscribing (listening) to this topic. Any message sent to this topic, by other ROS nodes (programs), will be translated into a Paparazzi message and sent to the ''Destination''.
	[[File:Pprzros.png\|thumb\|PPRZROS in a glimpse]]		[[File:Pprzros.png\|thumb\|PPRZROS in a glimpse]]
	A connexion to Paparazzi is also setup, depending on the specified connexion type.		A connexion to Paparazzi is also setup, depending on the specified connexion type.

Guido: /* Example */

2017-07-28T14:28:37Z

Example

← Older revision		Revision as of 08:28, 28 July 2017
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	== Example ==		== Example ==
	An example ~~.launch file~~ is provided in ~~the~~ /launch ~~directory of the package~~.		An example is provided in pprzros/launch/pingpong.launch.
	We will go through it to show how a message can be sent to the Paparazzi Destination from ROS.		We will go through it to show how a message can be sent to the Paparazzi Destination from ROS.
	<?xml version="1.0"?>		<?xml version="1.0"?>
	<launch>		<launch>
	<node pkg="pprzros" type="pprzros_run" name="pprzros" args="udp -d 192.168.1.1" output="screen"/>		<node pkg="pprzros" type="pprzros_run" name="pprzros" args="udp -d 192.168.1.1" output="screen"/>
	<node pkg="rostopic" type="rostopic" name="send_test_ping" args="pub -r 10 /from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>		<node pkg="rostopic" type="rostopic" name="send_test_ping" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>
	<node pkg="rostopic" type="rostopic" name="echo_test_pong" args="echo -c /to_ros" output="screen"/>		<node pkg="rostopic" type="rostopic" name="echo_test_pong" args="echo -c /pprzros/to_ros" output="screen"/>
	</launch>		</launch>

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	<node pkg="pprzros" type="pprzros_run" name="pprzros" args="udp -d 192.168.1.1" output="screen"/>		<node pkg="pprzros" type="pprzros_run" name="pprzros" args="udp -d 192.168.1.1" output="screen"/>

	Then, the ''rostopic'' package is called to create a node publishing a given message. This message is published on the /from_ros topic and is of type PprzrosMsg. The content of the message is then described in YAML format. We can see here that it is a simple PING message, so there is no content (data == []).		Then, the ''rostopic'' package is called to create a node publishing a given message. This message is published on the /pprzros/from_ros topic and is of type PprzrosMsg. The content of the message is then described in YAML format. We can see here that it is a simple PING message, so there is no content (data == []).
	<node pkg="rostopic" type="rostopic" name="send_test_ping" args="pub -r 10 /from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>		<node pkg="rostopic" type="rostopic" name="send_test_ping" args="pub -r 10 /pprzros/from_ros pprzros_msgs/PprzrosMsg '{header: auto, version: 1, len: 0, class_name: 'datalink', comp_id: 0, msg_name: 'PING', sender_id: 0, receiver_id: 201, checksum: 0, data: []}'" output="screen"/>

	Finally, we create a node, from the ''rostopic'' package, to subscribe to the /to_ros topic and listen if any PONG is message is answering our PINGs.		Finally, we create a node, from the ''rostopic'' package, to subscribe to the /pprzros/to_ros topic and listen if any PONG is message is answering our PINGs.
	<node pkg="rostopic" type="rostopic" name="echo_test_pong" args="echo -c /to_ros" output="screen"/>		<node pkg="rostopic" type="rostopic" name="echo_test_pong" args="echo -c /pprzros/to_ros" output="screen"/>

	<br/>- Under development -		<br/>- Under development -

Guido: /* Running PPRZROS */

2017-07-28T11:54:11Z

Running PPRZROS

← Older revision		Revision as of 05:54, 28 July 2017
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	First, be sure that the rosmaster is up and running by starting the roscore<br/>		First, be sure that the rosmaster is up and running by starting the roscore<br/>
	$ roscore		$ roscore
	~~And then~~ start the node,<br/>		Then, start Paparazzi
			$ cd my_paparazzi_folder/
			$ ./paparazzi
			Finally start the PPRZROS node,<br/>
	$ rosrun pprzros pprzros_run connexion_type destination [OPTIONS]		$ rosrun pprzros pprzros_run connexion_type destination [OPTIONS]
	The connexion_type can be UDP, Serial or IVY. The destination and OPTIONS will vary depending on the connexion_type, ~~information~~ can be displayed by starting the rosnode with the -h (--help) option.		The connexion_type can be UDP, Serial or IVY. The destination and OPTIONS will vary depending on the connexion_type, help can be displayed by starting the rosnode with the -h (--help) option.

	* Via a .launch file which allows to start the PPRZROS node along with some other nodes that might be useful for your application,<br/>		* Via a .launch file which allows to start the PPRZROS node along with some other nodes that might be useful for your application,<br/>