transport_drivers
A set of ROS2 drivers for transport-layer protocols. Currently utilizes the stand-alone ASIO library for most transport-layer functionality.
Supported Drivers:
- UDP Driver
A package which encapsulates basic receving and sending of udp data.
Provided within this package are the following executabes:
- udp_receiver_node_exe: can receive UDP data
- udp_sender_node_exe: can send UDP data asynchronosouly
- udp_bridge_node_exe: combined both receiver and sender nodes into one
Provided within this package also is a udp_driver library without the ROS2 dependencies which could be used elsewhere.
- Serial Driver
A package which which encapsulates basic receiving and sending of serial data.
Provided within this package is the following executabe:
- serial_bridge: combined both receiver and sender nodes into one
Provided within this package also is a serial_driver library without the ROS2 dependencies which could be used elsewhere.
- IO Context
A library to write synchronous and asynchronous networking applications.
Quick start
Clone the repo into your workspace, normally with the structure workspace/src/<clone-repo-here>:
git clone https://github.com/ros-drivers/transport_drivers.git
Install dependencies using rosdep from your top-level workspace directory:
rosdep install --from-paths src --ignore-src -r -y
Once you have the repository cloned and dependencies installed, you can now go ahead and compile:
colcon build
After successful compilation, you should be able to source your newly built packages:
source install/setup.bash
...and now you should be able to run your newly built executables. Here is how you would launch the udp_driver bridge node:
ros2 run udp_driver udp_bridge_node_exe --ros-args --params-file ./src/transport_drivers/udp_driver/params/example_udp_params.yaml
Testing
Comprehensive unit tests have been written for every package within this repository.
To run them yourself, use the normal command from your top-level workspace directory:
colcon test