.. _ROS:

ROS Bridge
==========

The ROS Bridge allows to integrate :ref:`PlatformPilot` into a ROS environment,
such that it is possible to control the platform via ROS as well as visualize all data in RViz.


Installation
------------

It is assumed that a ROS workspace has already been setup on the platform's PC, for example ``~/ros_workspace/``.
See `<https://docs.neobotix.de/display/TUT/Client+PC+Setup>`__ for more information.

To install the ROS Bridge:

.. code-block:: sh
	
	cd ~/ros_workspace/src/
	git clone https://github.com/neobotix/pilot-ros-bridge.git
	cd ~/ros_workspace/
	catkin_make

The package depends on an already installed ``neobotix-pilot-core`` or ``neobotix-pilot-gtkgui`` package.


Running
-------

To run the ROS bridge on the platform:

.. code-block:: sh

	source ~/ros_workspace/devel/setup.bash
	roslaunch pilot_ros_bridge mpo_700.launch

Replace ``mpo_700.launch`` with ``mpo_500.launch`` or ``mp_400.launch``, depending on your platform.

It is also possible to run the ROS bridge on another PC, by adapting the ``pilot_node`` param in the launch file:

.. code-block:: xml
	
	<param name="pilot_node" type="str" value="192.168.0.50:5555"/>

Replace ``192.168.0.50`` with the actual IP address of the platform.

In addition you can disable user authentication on the TCP server to allow for all functionality via the ROS Bridge.
To do this create a config file ``config/local/TcpServer.json``:

.. code-block:: javascript

	{
		"use_authentication": false
	}

This is only necessary when running the ROS Bridge on another PC.


Topics
------

The following topics are enabled on the ROS bridge by default.
You can add more by adapting the config file ``config/default/generic/Pilot_ROS_Bridge.json`` in ``pilot-ros-bridge``.

Export
^^^^^^

.. code-block:: javascript
	
	"export_map": [
		["platform.odometry",			"/odom"],
		["sensors.laser_scan.lidar_1",		"/lidar_1/scan"],
		["sensors.laser_scan.lidar_2",		"/lidar_2/scan"],
		["sensors.filtered_scan.lidar_1",	"/lidar_1/scan_filtered"],
		["sensors.filtered_scan.lidar_2",	"/lidar_2/scan_filtered"],
		["kinematics.drive_state", 		"/drives/joint_states"],
		["mapping.grid_map", 			"/mapping/map"],
		["mapping.grid_map_tile", 		"/mapping/map_tile"],
		["mapping.grid_map_tile_ref",		"/mapping/map_tile_ref"],
		["navigation.grid_map", 		"/map"],
		["navigation.grid_map_tile", 		"/map_tile"],
		["navigation.map_pose",			"/map_pose"],
		["navigation.map_particles",		"/particlecloud"],
		["navigation.road_map",			"/road_map"],
		["navigation.global_path",		"/global_path"],
		["navigation.local_path",		"/local_path"],
		["navigation.local_cost_map",		"/local_cost_map"],
		["navigation.local_cost_map_overlay",	"/local_cost_map_overlay"],
		["navigation.global_cost_map",		"/global_cost_map"],
		["navigation.global_cost_map_overlay",	"/global_cost_map_overlay"],
		["local_planner.target_pose",		"/local_planner/target_pose"],
		["local_planner.predicted_pose",	"/local_planner/predicted_pose"]
	]

Import
^^^^^^

.. code-block:: javascript
	
	"import_map": [
		[["/cmd_vel", "geometry_msgs/Twist"],		"platform.velocity_cmd"],
		[["/initialpose", "geometry_msgs/PoseWithCovarianceStamped"],	"navigation.initial_pose"],
		[["/move_base_simple/goal", "geometry_msgs/PoseStamped"],	"navigation.new_goal_pose"]
	]