Recent changes to Interfacing with Systems

Interfacing with Systems modified by brandon shrewsbury

brandon shrewsbury — Thu, 29 Aug 2013 05:29:58 -0000

--- v3
+++ v4
@@ -31,4 +31,4 @@
 [Offline CSV Template]
 [Video Stream Template]

-[Creating a Startup file]
+On To [Creating a Startup file]

Interfacing with Systems modified by brandon shrewsbury

brandon shrewsbury — Thu, 29 Aug 2013 05:29:40 -0000

--- v2
+++ v3
@@ -31,17 +31,4 @@
 [Offline CSV Template]
 [Video Stream Template]

-Creating a startup file for Real Time Collection
--------------
-Under special circumstances, software may need to be launched outside of ROS, so a .sh template is provided for running the nodes required to gather the data. [Startup Template]
-Roscore must be launched either via roslaunch or manually.
-Rosbag must be set to record, preferably excluding duplicate video streams
-The telemetry node must be launched if available
-The video node must be launched if available
-The fkie zeroconf discovery node must be launched for centralized logging
-
-Configuring the Centralized Server
---------------
-A single machine can collect data from multiple masters using fkie multimaster's master_sync node. Each logger must be on the same network as the centralized logging hub, and each logger must be running the fkie master_discovery zeroconf node.
-
-Configure the centralized logger just as you would any other logger, but instead of running a telemetry and video node, run the fkie multimaster's master_sync node. Because this machine will be collecting data from each system, more drive space will be required. Once a master is found using the discovery node, the sync will collect messages and post them to the ROS blackboard. Rosbag will store the synced topics in a centralized location and allow synced multirobot replay for analysis and review. In order to view this data it is important to build the rosmsgs associated with each logged system.
+[Creating a Startup file]

Interfacing with Systems modified by brandon shrewsbury

brandon shrewsbury — Thu, 29 Aug 2013 05:27:51 -0000

--- v1
+++ v2
@@ -1,6 +1,31 @@
 Create the interface between the logger and the equipment
 ----------------
-Each cyber physical system (CPS) must have an interface to gather equipment data either in real time or post event. We have provided 3 templates to gather data. A real time template for gathering data over a socket, an offline template for converting CSV data, and a video template for capturing network streams.
+Each cyber physical system (CPS) must have an interface to gather available data either in real time or post event to be stored using the RESPOND-R framework. Your next step is to find out what type of information is available and how it will be logged. It could be radiological readings over an rs232 interface or gps data over a web socket. If there is no way to get the data out you could just record the equipment using a webcam in which the interface is a video stream. 
+
+Once you have a general idea of what and how you and your confident that it can be incorporated go ahead and make a new package: http://www.ros.org/wiki/ROS/Tutorials/CreatingPackage. Be sure to include std_msgs, rospy, and roscpp.
+
+Next you must define rosmsgs that represent the device. You may find that complex devices require multiple msgs due to multiple interfaces or different polling rates for different types of information. Check the creating messages tutorial for an explanation: http://www.ros.org/wiki/ROS/Tutorials/CreatingMsgAndSrv#Creating_a_msg
+
+Below is an example of the GPS time returned over serial from the AirRobot sUAS. This is one of many messages representing the data available from the AirRobot.
+
+~~~~~
+
+#AirRobot example msg - gps_date_time.msg
+Header header
+string name
+int32 flightTime
+int32 day
+int32 month
+int32 year
+int32 hour
+int32 minute
+
+~~~~~
+
+
+Once you have defined all of your messages you should catkin_make to ensure everything went well. Next you need to create the connector between the systems raw data and ROS. This is broken up into 2 types, online and offline. Online is considered a real time data stream. The type will change which template you choose (if any). The goal is to convert the data from the system and publish to ROS using the msgs you created in the last step.
+
+We have provided 3 templates to convert data. A real time template for gathering data over a socket, an offline template for converting CSV data, and a video template for capturing network streams. Take a look at each one and see if they will fit your situation. The Socket and the Video stream will usually be used together if you are interfacing with a teleoperated robot.

 [Real Time Socket Template]
 [Offline CSV Template]

Interfacing with Systems modified by brandon shrewsbury

brandon shrewsbury — Thu, 29 Aug 2013 04:13:18 -0000

Create the interface between the logger and the equipment

Each cyber physical system (CPS) must have an interface to gather equipment data either in real time or post event. We have provided 3 templates to gather data. A real time template for gathering data over a socket, an offline template for converting CSV data, and a video template for capturing network streams.

[Real Time Socket Template]
[Offline CSV Template]
[Video Stream Template]

Creating a startup file for Real Time Collection

Under special circumstances, software may need to be launched outside of ROS, so a .sh template is provided for running the nodes required to gather the data. [Startup Template]
Roscore must be launched either via roslaunch or manually.
Rosbag must be set to record, preferably excluding duplicate video streams
The telemetry node must be launched if available
The video node must be launched if available
The fkie zeroconf discovery node must be launched for centralized logging

Configuring the Centralized Server

A single machine can collect data from multiple masters using fkie multimaster's master_sync node. Each logger must be on the same network as the centralized logging hub, and each logger must be running the fkie master_discovery zeroconf node.

Configure the centralized logger just as you would any other logger, but instead of running a telemetry and video node, run the fkie multimaster's master_sync node. Because this machine will be collecting data from each system, more drive space will be required. Once a master is found using the discovery node, the sync will collect messages and post them to the ROS blackboard. Rosbag will store the synced topics in a centralized location and allow synced multirobot replay for analysis and review. In order to view this data it is important to build the rosmsgs associated with each logged system.