Comms bridge

astrobee/config/communications/comms_bridge.config

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+-- 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.
+
+require "context"
+
+-- Enable DDS communications on start --
+-- If false, a trigger call will be needed to start communications --
+initialize_dds_on_start = false
+
+links = {
+  -- Logically, there could be up to three two-way links between the three robots. In practice, we
+  -- will probably only have one link.
+  {
+    -- A single link entry has required fields "from" and "to" that specify the robot roles involved
+    -- in the link.
+    from = "Bumble",  -- manager
+    to = "Honey",     -- actor
+
+    -- The link entry has three optional fields: relay_forward (messages to be relayed only in the
+    -- `from` to `to` direction), relay_backward (to be relayed only in the `to` to `from` direction),
+    -- and relay_both (to be relayed in both directions). Providing all three fields gives the user
+    -- full directional control while minimizing repetition and copy/paste errors.
+
+    -- Each topic entry can contain an input topic and an output topic. The
+    -- in topic is the topic being published on the robot sending the data and
+    -- must be specified. The optional out topic is the name of the topic a
+    -- user wants the data published on in the receiving robot. If the
+    -- out topic is not specified, the comms bridge will set it to be the name
+    -- of the robot sending the data combined with the in topic name. For
+    -- instance, if the from robot was Bumble and the to robot was Honey and
+    -- one of the in topics in the relay forward list was "mgt/ack", then it
+    -- would be published on Honey on topic "bumble/mgt/ack".
+    -- Please note that only one unique in topic can exist in the relay forward
+    -- and relay both lists and the relay backward and relay both lists. It is
+    -- fine to have the same in topic in the relay forward and relay backward
+    -- lists.
+
+    relay_forward = {
+    },
+    relay_backward = {
+    },
+    relay_both = {
+      {in_topic = "gnc/ekf"},
+      {in_topic = "gs/data"},
+    },
+  },
+  {
+    from = "Bsharp",  -- manager
+    to = "Wannabee",  -- actor
+
+    relay_forward = {
+    },
+    relay_backward = {
+    },
+    relay_both = {
+      {in_topic = "gnc/ekf"},
+      {in_topic = "gs/data"},
+    }
+  }
+}
+
+verbose = 2
+ad2pub_delay = 3.0

astrobee/config/communications/dds_generic_comms/NDDS_DISCOVERY_PEERS

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+;; NDDS_DISCOVERY_PEERS - Default Discovery Configuration File
+;;Multicast builtin.udpv4://239.255.0.1 ; default discovery multicast addr
+; EVERY LINE IN THIS FILE MUST END IN A COMMENT. Even blank lines.
+;
+;; Shared Memory
+;shmem://                ; All 'shmem' transport plugin(s)
+;builtin.shmem://        ; The builtin builtin 'shmem' transport plugin
+                         ;  at network address FCC0::0
+;
+;; Unicast
+;
+;; Localhost
+127.0.0.1              ; A comma can be used a separator
+;
+;; Robot to communicate with
+;
+;; Custom entries below this line (Vagrant, etc)