#Info

This project provides a way to make a DevOps in robotics. Documentation at https://cocheok.github.io/robotics_devops

Prerequisites

Install Docker

Configuration

1. Build ros_base image

cd ros
docker build -t ros_base .
cd ..

2. Build rosbridge image

cd rosbridge
docker build -t rosbridge .
cd ..

3. Build nodered image

cd nodered
docker build -t nodered_base .
cd ..

Talker Listener example

This is example has the following structure:

1. Run the talker-listener example

cd demos/talker-listener
docker-compose up            

2. Look for node-red url

In another window ###2.1 List the docker containers

docker ps

There are one that has the node_red in his name (The node-red container has a name like talkerlistener_nodered_1).

###2.2 Inspect the node-red container and get the url

replace the with the node-red container of the step 2.1

docker inspect <node-red container>

##3 Use node-red Open your browser and put the ip obtained on the point 2.2. The service is running on port 1880. The topic that is used by the talker node is /chatter

3.1 Consume messages from /chatter topic

3.1.1 Put the ROS sub node from the input section and the debug node from the output section on the board and connect them

3.1.2 Configure ROS sub node with the following content:

-> ROS Server: ws://rosbridge:9090

-> Topic: /chatter

3.1.3 Configure debug:

-> Output: complete msg object

3.1.4 Click on Deploy and see messages on debug tab

3.2 Publish messages on /chatter topic

3.2.1 Put the ROS pub node from the output section and the inject node from the input section on the board and connect them

3.2.2 Configure ROS pub node with the following content:

-> ROS Server: ws://rosbridge:9090

-> Topic: /chatter

3.1.3 Configure inject:

-> On Payload select type string and put the text "Test from node-red"

3.1.4 Click on Deploy, then on the blue button of inject and see messages on debug tab

Flow [{"id":"5848c162.48fa6","type":"tab","label":"Flow 1","disabled":false,"info":""},{"id":"be2b815f.a990b","type":"inject","z":"5848c162.48fa6","name":"","topic":"Test","payload":"Test node-red","payloadType":"str","repeat":"","crontab":"","once":false,"onceDelay":0.1,"x":150,"y":360,"wires":[["30696466.ce8f74"]]},{"id":"618d0bad.17be14","type":"debug","z":"5848c162.48fa6","name":"","active":false,"tosidebar":true,"console":false,"tostatus":false,"complete":"payload.data","x":480,"y":140,"wires":[]},{"id":"66b446ff.6d91d","type":"ros-subscribe","z":"5848c162.48fa6","server":"c7030e4e.0c461","topicname":"/chatter","x":190,"y":120,"wires":[["618d0bad.17be14"]]},{"id":"30696466.ce8f74","type":"ros-publish","z":"5848c162.48fa6","server":"c7030e4e.0c461","topicname":"/chatter","msgtype":"std_msgs/String","x":470,"y":360,"wires":[]},{"id":"c7030e4e.0c461","type":"ros-server","z":"","url":"ws://rosbridge:9090"}]