https://github.com/iot-salzburg/ros_adapter
https://github.com/iot-salzburg/ros_adapter
Last synced: about 2 months ago
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- Host: GitHub
- URL: https://github.com/iot-salzburg/ros_adapter
- Owner: iot-salzburg
- Created: 2018-09-03T10:38:25.000Z (over 6 years ago)
- Default Branch: master
- Last Pushed: 2022-12-08T07:38:16.000Z (over 2 years ago)
- Last Synced: 2023-02-27T07:56:07.610Z (about 2 years ago)
- Language: Python
- Size: 141 KB
- Stars: 2
- Watchers: 7
- Forks: 1
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
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README
# ROS-Adapter
Connecting the ROS of the Panda robot with the Panta Rhei Messaging System.
This component subscribes to ROS topics and forwards selected metrics to the [Panta Rhei](https://github.com/iot-salzburg/panta_rhei) messaging system which is based on Apache Kafka.
The metrics involve:
* Coordinates of the robot's working point
* Gripper finger width
* vertical force on the end effector
Therefore both services must be running:
* [ROS](https://github.com/iot-salzburg/ros_supporting_files)
* [panta-rhei stack](https://github.com/iot-salzburg/panta_rhei)
The ROS Adapter is based on the components:
* A ROS setup connected to the panda robot.
* Kafka Client [librdkafka](https://github.com/geeknam/docker-confluent-python) version **2.1**
* Python Kafka module [confluent-kafka-python](https://github.com/confluentinc/confluent-kafka-python)
version **0.11.6**
## Contents
1. [Requirements](#requirements)
2. [Basic Configuration](#basic-configuration)
3. [Quickstart](#quickstart)
## Requirements
1. Make sure the [Panta Rhei](https://github.com/iot-salzburg/panta_rhei) stack is running.
This ROS-Adaper requires Apache **Kafka**, as well as the **SensorThings** server GOST.
2. Make sure ROS runs and is accessable from the host machine:
```bash
# cd /home/panda/franka_apps_ws/src/state_export/scripts/
# ln -sf /home/panda/dtz_panda/ros_kafka_adapter/src/ros_kafka_adapter.py ros_kafka_adapter.py
# cd /home/panda/franka_apps_ws
# . devel/setup.bash
roslaunch franka_control franka_control.launch robot_ip:=192.168.13.1
rostopic list
```
If connected with `ssh` ther will be shown an `error message including pyqt`, because there is not GUI. This message can be ignored.
The command `rostopic list` should return multiple topics including `/franka_state_controller/franka_states` and `/joint_states`.
3. Install the Kafka libraries and clone the Panta Rhei client into the `src`-directory:
```bash
sudo apt-get update && sudo apt-get install make
# Installing librdkafka which is an C client library for Kafka
mkdir /kafka > /dev/null 2>&1 || true
cd /kafka
git clone https://github.com/edenhill/librdkafka
cd librdkafka
git checkout v0.11.1
./configure && make && sudo make install && sudo ldconfig
# Installing official python client which is based on librdkafka
pip install confluent-kafka
```
## Basic Configuration
Now, the client can be imported and used in `ros_kafka_adapter.py` with:
```python
import os, sys
from client.digital_twin_client import DigitalTwinClient
# Set the configs, create a new Digital Twin Instance and register file structure
config = {"client_name": "ros-adapter",
"system": "at.srfg.iot.dtz",
"gost_servers": "192.168.48.71:8082",
"kafka_bootstrap_servers": "192.168.48.71:9092,192.168.48.71:9093,192.168.48.71:9094"}
client = DigitalTwinClient(**config)
client.register(instance_file=INSTANCES)
```
## Quickstart
The ROS-Adapter uses SensorThings to semantically augment
the forwarded data. Data that is later on consumed by the
suggested [DB-Adapter](https://github.com/iot-salzburg/DB-Adapter/)
decodes the generic data format using the same SensorThings server.
### Starting franka control
Run in a separate console:
```bash
cd /home/panda/franka_apps_ws
roslaunch franka_control franka_control.launch robot_ip:=192.168.13.1
```
For information how to start the ROS demo, follow the internal link [here](https://secure.salzburgresearch.at/wiki/pages/viewpage.action?pageId=31000016).
Make sure `rostopic echo /franka_state_controller/joint_states` yields the joint states.
## Setup of the ROS-Kafka-Adapter
This project is based on this repository. ROS-messages can only be forwarded into the Panta Rhei project if they are received as described above.
1. Clone the repository into `/src/`
```git clone --recurse-submodules https://github.com/iot-salzburg/ros_adapter.git```
2. Create and activate virtualenv:
```bash
virtualenv --python=/usr/bin/python3.7 .venv
source .venv/bin/activate
pip install -r requirements.txt
```
3. Run the script with:
```bash
/src/ros_adapter/.venv/bin/python3.7 /src/ros_adapter/src/ros_kafka_adapter.py
```
4. The auto-start script is in ` ~/.bashrc`
```
/src/ros_adapter/.venv/bin/python3.7 /src/ros_adapter/src/ros_kafka_adapter.py $> /src/ros_adapter/ros_kafka_adapter.log &
```
It should start automatically.
5. Check if messages are received:
- In the Dashboard: http://192.168.48.71:3000/d/dtz-lab/dtz-dashboard?orgId=1&refresh=10s
- In Kafka (check for valid iot.ids:
```
/kafka/bin/kafka-console-consumer.sh --bootstrap-server 192.168.48.71:9092 --topic at.srfg.iot.dtz.int
```
## Deployment
4. The auto-start script is in ` ~/.bashrc`
```
/src/ros_adapter/.venv/bin/python3.7 /src/ros_adapter/src/ros_kafka_adapter.py $> /src/ros_adapter/ros_kafka_adapter.log &
```
This launches the ROS-Adapter while booting, check using `ps -ef |grep ros_kafka_adapter`