roscore to be bridged via serial communication ?

asked 2019-12-02 15:43:38 -0600

Hi guys,

I have been wondering how can I setup a communication bridge between two computers. one of them is the Jetson Nano, that will operate as the ROS master, and the other one will give commands to the Jetson.

I have a serial communication, and i couldn't figure out how to bridge them together, without using a LAN network.

I have succeed communication on the LAN, but my project is currently on a Serial Telemetry based comms. I tried messing around with the rosbridge, rosserial and some other solution with no success, probably something that I miss here.

Thanks ! Daniel

edit retag flag offensive close merge delete

Comments

Could you please describe in more detail what it is you want to do?

From the description we have now it almost looks like you should look into SLIP networking (or similar), but any network interface other than serial would be much more performant.

Additionally: are you "just" looking to have some (form of) node(s) publishing over a serial link, or would you really want bidirectional network traffic over your serial link?

Finally:

I tried messing around with the rosbridge, rosserial and some other solution with no success

"messing around", "no success": it may be clear to you, but we don't know what you tried and why you feel that hasn't worked. If you want people to help you, it would be good to clearly describe what you tried and what you observed.

gvdhoorn gravatar imagegvdhoorn ( 2019-12-03 02:04:35 -0600 )edit

Hi !

thank you for the quick response.

i'm unfamiliar at the moment with the SLIP Networking, i'll try to google on that more.

My main goal is to communicate over ROS with a ground station, with ros topics, and in another way to control mavros. I could have done the very complex way and just connect via mavlink and to send a mavlink message and parse it back to ros via mavros. but that seems like the less better plan.

I would like to subscribe to some specific topics that are published by mavros, and to publish specific topics over to control my program to run according to what the ground station orders.

Sorry if my questions are less clear, i'm relatively new to ROS, and i will try to be more direct with my questions over the time.

I have thought about something else, to converst ...(more)

DanielK gravatar imageDanielK ( 2019-12-03 02:33:23 -0600 )edit

I could have done the very complex way and just connect via mavlink and to send a mavlink message and parse it back to ros via mavros. but that seems like the less better plan.

I'm not into drones, but if mavlink was created for ground station <-> drone communication over lossy links, it may actually be a good way to set this up. Dealing with radio communication is non-trivial, as is dealing with lost packets. ROS 1 is not very good at it, as the design assum(s)(ed) a perfect network.

As I have no experience here I cannot provide any guidance nor answer your question unfortunately.

gvdhoorn gravatar imagegvdhoorn ( 2019-12-03 02:45:49 -0600 )edit