RACS2 (ROS and cFS System 2) Bridge

Overview

This repository is a collection of software and examples that bridge message communication between Robot Operating System 2 (ROS2) nodes and core flight executives (cFE). cFE is a core component of NASA-supplied spacecraft software, Core Flight System (CFS).

This project provides the following 2 components,

• ROS2/cFE message bridge software
• ROS2/cFE examples

If you would like to report a bug or have a request for an update, please contact us. We will respond on demand.

License

This project is under the Apache 2.0 license. See LICENSE text file.

Release Notes

• RACS2 (ROS2/cFE) project suite 1.0.0 is released.

Directory List

• ROS2 :
  • RACS2 Bridge software for ROS2.
• cFS :
  • RACS2 Bridge software for cFS.
• Document :
  • Documents of RACS2.
• Example :
  • Example software of RACS2.
• Misc :
  • Other Information of RACS2.

Dependency

• Base OS :
  • Ubuntu 20.04 LTS
• ROS2 :
  • "ros-foxy" package.
• cFS :
  • cFE 6.7.0a
  • OSAL v5.0.0

Setup

Premise

• ROS2 and cFS shall be installed on the OS.
  • See below.
    • ROS2 Installation
    • cFS Installation
    • OSAL Installation

Procedure

• Preparing for WebSocket.

  • C/C++ :

    sudo apt install -y libwebsockets-dev
    

  • Python :

    pip install websockets
    

• Preparing for Protocol Buffers.

  • C/C++ :

    sudo apt install -y libwebsockets-dev protobuf-c-compiler libprotobuf-c-dev
    

  • Python :

    pip install protobuf
    

• git clone the RACS2 Bridge source code.

• Preparation of execution environment on the cFS side.

  • Go to the top of the cFS project directory and execute the following build command

    cp cfe/cmake/Makefile.sample Makefile
    cp -r cfe/cmake/sample_defs sample_defs
    

  • Bridge application placement in the cFS execution environment.

    cp -pr racs2_bridge/cFS/Bridge/Client_C/apps/racs2_bridge_client [cFS project path]/apps/
    cp -p racs2_bridge/cFS/Bridge/Client_C/sample_defs/* [cFS project path]/sample_defs/
    

  • Go to the top of the cFS project directory and execute the following build command

    make prep
    make
    make install
    

• Preparation of execution environment on the ROS2 side.

  • Bridge node placement in the ROS2 execution environment.

    cp -pr racs2_bridge/ROS2/Bridge/Server_Python/bridge_py_s [ROS2 project path]/src/
    

  • Go to the top of the ROS2 project directory and execute the following build command

    colcon build --symlink-install
    

• Start the ROS2 node.

  cd [ROS2 project path]
  source install/setup.bash
  ros2 run bridge_py_s bridge_py_s_node  --ros-args --params-file ./src/bridge_py_s/config/params.yaml
  

• Start the cFS application.

  cd [cFS project path]/build/exe/cpu1
  ./core-cpu1
  

• Start the ROS2 publishers and subscribers.

• Start the cFS publishers and subscribers.

Params for ROS2

• Specify startup parameters in YAML format. The name of the file describing the parameters is params.yaml.
• Parameters Details:
  • wss_uri -> HostName or IP Address. The type is String.
  • wss_port -> Port Number. The type is Integer.

Params for cFS

• Specify startup parameters in txt format. The name of the file describing the parameters is racs2_bridge_config.txt.
• Parameters Details:
  • wss_uri -> HostName or IP Address.
  • wss_port -> Port Number.

About Example

• See Example/README.md.

How to exchange messages

• See Document/HowToExchangeMessages.md.

Reference

• Hiroki Kato, et al. "ROS and cFS System (RACS): Easing Space Robotic Development post-opensource activities and ROS2 integration" Flight Software Workshop 2021.