Setting up the Lidar publisher node

Conguration files

  • The configuration files are located in /src/firos_lidar_brinup/config/.
  • Setup the config.json. Here server is the firos node and context_broker is responsible of transforming ROS messages to the NGSIv2 and interfacing the ROS world with non-ROS world via the OCB.
{
    "environment": "local",
    "local": {
        "server": {
            "port": 10100
        },
        "contextbroker": {
            "address": "localhost",
            "port": 1026
        }
    }
}
  • The config file topics.json defines the topic that needs to be interfaced with OCB. The message type and topic names are defined here. The publisher and subscriber terminology is at the non-ROS world. The /scan and /tf are being subscribed by the OCB or in other words these topics are published to the OCB.
{
    "/scan": ["sensor_msgs/LaserScan", "subscriber"],
    "/tf": ["tf2_msgs/TFMessage", "subscriber"]
}
  • As the name suggests, the whitelist.json functions as a whitelist to let FIROS know which messages it should keep track of. Given an environment where already ROS-Applications are running, FIROS will not automatically subscribe to all available topics if no whitelist.json is given. In a small ROS-World with few ROS-Applications, it can be desirable to subscribe to all topics.
{}

References