RACS2 (ROS2 and cFS System) Bridge

Overview

This repository is a collection of software and examples that bridge message communication between Robot Operating System 2 (ROS2) nodes and core flight executives (cFE). cFE is a core component of NASA-supplied spacecraft software, Core Flight System (CFS).

This project provides the following 2 components,

ROS2/cFE message bridge software
ROS2/cFE examples

If you would like to report a bug or have a request for an update, please contact us. We will respond on demand.

License

This project is under the Apache 2.0 license. See LICENSE text file.

Release Notes

RACS2 (ROS2/cFE) project suite 1.0.0 is released.

Directory List

ROS2 :
- RACS2 Bridge software for ROS2.
cFS :
- RACS2 Bridge software for cFS.
Document :
- Documents of RACS2.
Example :
- Example software of RACS2.
Misc :
- Other Information of RACS2.

Dependency

Base OS :
- Ubuntu 22.04 LTS
ROS2 :
- “ros-humble” package.
cFS :
- cFE 6.7.0a
- OSAL v5.0.0 (included in cFE 6.7.0a)

Setup

Premise

Assuming to work in the “~/racs2_ws” directory.
```
```
mkdir ~/racs2_ws
mkdir ~/racs2_ws/ros2_ws
```
```

ROS2 and cFS shall be installed on the OS.

See below.

ROS2 Installation

cFS Installation

cd ~/racs2_ws  
git clone https://github.com/nasa/cFS.git
cd cFS
git checkout v6.7.0a
git submodule init
git submodule update

Procedure for initial build

Preparing for WebSocket.

C/C++ :
```
sudo apt install -y libwebsockets-dev
```
Python :
```
pip install websockets==12.0
```

Preparing for Protocol Buffers.

C/C++ :

sudo apt install -y libwebsockets-dev protobuf-c-compiler libprotobuf-c-dev

Python :
```
pip install protobuf==3.20.0 
```

git clone the RACS2 Bridge.

cd ~/racs2_ws
git clone https://github.com/jaxa/racs2_bridge.git -b v1.1

Go to the top of the cFS project directory and execute the following build command

cd ~/racs2_ws/cFS
cp cfe/cmake/Makefile.sample Makefile
cp -r cfe/cmake/sample_defs sample_defs

Bridge application placement in the cFS execution environment.

cd ~/racs2_ws/
cp -pr racs2_bridge/cFS/Bridge/Client_C/apps/racs2_bridge_client cFS/apps/
cp -pr racs2_bridge/cFS/Bridge/Client_C/sample_defs/* cFS/sample_defs/

Edit L.205 of “cFS/sample_defs/default_osconfig.h” as follows,
```
#define OSAL_DEBUG_PERMISSIVE_MODE
```
Go to the top of the cFS project directory and execute the following build command
```
cd ~/racs2_ws/cFS
make prep
make
make install
```

Preparation of execution environment on the ROS2 side.
- Bridge node placement in the ROS2 execution environment.
```
cd ~/racs2_ws/
cp -pr racs2_bridge/ROS2/Bridge/Server_Python/bridge_py_s ros2_ws/src/
```
- Go to the top of the ROS2 project directory and execute the following build command
```
cd ros2_ws/
colcon build --symlink-install
```

Procedure for use

It must be built separately for both cFS and ROS 2. For detailed procedure, please see the example.

Params for ROS2

Specify startup parameters in YAML format. The name of the file describing the parameters is params.yaml.
Parameters Details:
- wss_uri -> HostName or IP Address. The type is String.
- wss_port -> Port Number. The type is Integer.

Params for cFS

Specify startup parameters in txt format. The name of the file describing the parameters is racs2_bridge_config.txt.
Parameters Details:
- wss_uri -> HostName or IP Address.
- wss_port -> Port Number.

How to exchange messages

See Document/HowToExchangeMessages.md.

Reference

Hiroki Kato (JAXA) and Tatsuhiko Saito (Systems Engineering Consultants (SEC)). “RACS2: the ROS2 and cFS System, launched” Flight Software Workshop 2023 in March 2023