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* Perching functional * Ubuntu 20 compatibility * Added astrobee to astrobee coms * Various other fixes/software improvements
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astrobee/config/communications/astrobee_astrobee_bridge.config
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|---|---|---|
| @@ -0,0 +1,99 @@ | ||
| -- Copyright (c) 2017, United States Government, as represented by the | ||
| -- Administrator of the National Aeronautics and Space Administration. | ||
| -- | ||
| -- All rights reserved. | ||
| -- | ||
| -- The Astrobee platform is licensed under the Apache License, Version 2.0 | ||
| -- (the "License"); you may not use this file except in compliance with the | ||
| -- License. You may obtain a copy of the License at | ||
| -- | ||
| -- http://www.apache.org/licenses/LICENSE-2.0 | ||
| -- | ||
| -- Unless required by applicable law or agreed to in writing, software | ||
| -- distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| -- WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| -- License for the specific language governing permissions and limitations | ||
| -- under the License. | ||
|
|
||
| -- SHARE TOPICS lists all local topics to be published to DDS. | ||
| -- RAPID SUBSCRIBERS lists all rapid subscribers that will be created to listen | ||
| -- external data. Must be a subscriber for every agent enabled or a failure | ||
| -- will occur. | ||
| -- AGENTS section allows to enable/disable and add more robots. It also allows to listen | ||
| -- more topics once they are implemented. | ||
| -- | ||
| -- DO NOT change structure or topic names. | ||
|
|
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| require "context" | ||
|
|
||
| -- Enable DDS communications on start -- | ||
| -- If false, a trigger call will be needed to start communications -- | ||
| started = false; | ||
|
|
||
| -- Shared individual topics from local instance -- | ||
| share_topics = { | ||
| { | ||
| name = "TOPIC_GNC_EKF", | ||
| enable = true, | ||
| rate = 2 | ||
| } | ||
| } | ||
|
|
||
| -- Shared topic groups from local instance (for compatibility with DDS bridge) -- | ||
| share_topic_groups = { | ||
| -- Share TOPIC_GUEST_SCIENCE_DATA -- | ||
| -- TOPIC_GUEST_SCIENCE_MANAGER_STATE -- | ||
| -- TOPIC_GUEST_SCIENCE_MANAGER_CONFIG -- | ||
| { | ||
| name = "TOPIC_GROUP_GS", | ||
| enable = true, | ||
| rate = -1 | ||
| } | ||
| } | ||
|
|
||
| -- Rapid subscribers -- | ||
| rapid_sub_names = {"Bumble", "Honey", "Queen", "Bsharp", "Wannabee"} | ||
|
|
||
| -- External data management | ||
| agents = { | ||
| { | ||
| name = "Bumble", | ||
| enable = true, | ||
| topics = { | ||
| { name = "TOPIC_GNC_EKF", enable = true }, | ||
| { name = "TOPIC_GUEST_SCIENCE_DATA", enable = true } | ||
| } | ||
| }, | ||
| { | ||
| name = "Honey", | ||
| enable = true, | ||
| topics = { | ||
| { name = "TOPIC_GNC_EKF", enable = true }, | ||
| { name = "TOPIC_GUEST_SCIENCE_DATA", enable = true } | ||
| } | ||
| }, | ||
| { | ||
| name = "Queen", | ||
| enable = true, | ||
| topics = { | ||
| { name = "TOPIC_GNC_EKF", enable = true }, | ||
| { name = "TOPIC_GUEST_SCIENCE_DATA", enable = true } | ||
| } | ||
| }, | ||
| { | ||
| name = "Bsharp", | ||
| enable = true, | ||
| topics = { | ||
| { name = "TOPIC_GNC_EKF", enable = true }, | ||
| { name = "TOPIC_GUEST_SCIENCE_DATA", enable = true } | ||
| } | ||
| }, | ||
| { | ||
| name = "Wannabee", | ||
| enable = true, | ||
| topics = { | ||
| { name = "TOPIC_GNC_EKF", enable = true }, | ||
| { name = "TOPIC_GUEST_SCIENCE_DATA", enable = true } | ||
| } | ||
| } | ||
| } |
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