ah_ros_barrier

ROS node for receiving lap time data from the optic barrier using Arrowhead Framework. Note: This is built on ah-ros-bridge-example.

This application serves as an Arrowhead wrapper for the Optic barrier of f1tenth-scoreapp race measuring system. It register itself as an Arrowhead Service laptime consumer and uses Arrowhead Core orchestration to find available barriers (providers).

The Service laptime has following metadata:

• address -- preferred IP address of the barrier

Note: The node currently connects to the first received barrier only using preferred address (if available).

Data received from the optic barrier (lap time) are published to topic lap_time using std_msgs/Time message.

Requirements

• autopsy >= 0.4.1
  • GitHub: https://github.com/jara001/autopsy
  • Wheel: v0.4.1
• aclpy >= 0.2.0
  • GitHub: https://github.com/CTU-IIG/ah-acl-py
  • Wheel: v0.2.0
• websocket-client
  • python3 -m pip install websocket-client

Starting up

1. Obtain certificates (.p12, .pub) for your system from your local Arrowhead Core.
2. Obtain also the certificate authority .ca for your cloud.
3. Create a configuration file configuration.py.
4. Run the ROS node.

Example configuration

Note: This is currently stored inside ./ah_ros_barrier/module/configuration.py.

Server = ArrowheadServer(
    address = "127.0.0.1",
)

Interface = ArrowheadInterface(
    name = "HTTP-INSECURE-JSON",
)

Service = ArrowheadService(
    name = "laptime",
)

Client = ArrowheadClient(
    name = "ros-machine",
    address = "192.168.1.1",
    port = 0,
    pubfile = "/home/machine/keys/ros-machine.pub",
    p12file = "/home/machine/keys/ros-machine.p12",
    p12pass = "abcd",
    cafile = "/home/machine/keys/cloud.ca",
    server = Server,
    interfaces = [Interface],
)