protobuf_client package

protobuf_client is a ROS node that serves as a bridge to MOOS-IvP through a predefined Google Protobuf message type. It runs a TCP client using lib_gateway_tcp (adopted from https://github.com/GobySoft/netsim/tree/master/src/lib/tcp), which allows this application to connect to a MOOS based TCP server, using the same library.

When protobuf_client receives key-value pairs defined in the MOOS-IvP Gateway application. This data is posted as the rostopic /gateway_msg as Gateway.msg ROS type. The gateway_msg topic can then be subscribed to by an additional data parsing node created by the user.

The protobuf_client is set to automatically forward any messages posted to the topic specified by the send_to_gateway_topic parameter. This topics data type is of the custom Gateway.msg ROS type.

• Please see Gateway.msg for more information into the /gateway_msg and /send_to_gateway topics custom data type.

ROS API

Subs

• send_to_gateway_topic (msg/Gateway)

Pubs

• /gateway_msg (msg/Gateway) Received data from MOOS Gateway is published to this topic

ROS Parameters

• gateway_port: default="9502"
  • Port number of MOOS Gateway
• gateway_ip: default="127.0.0.1"
  • IP address of MOOS Gateway
• send_to_gateway_topic: default="/send_to_gateway_cora"
  • Subscribe to this topic to send data to MOOS

TODO:

• Need to fix proto generation so it builds to correct directory
  • Had to copy in the .pb.h .pb.c files into my include from build/protobuf_client/
• Add param to publish to custom received from gateway topic and not the static /gateway_msg