san_socket

Overview

This package pretends to be a bridge between ROS and Sensor Agent Node. The SAN module is a code running on a docker container and it communicates to OPIL Server. Initially this mode is configured to work like a button. On the ROS side, a socket is opened to talk to the docker container. It creates a service that triggers SAN module. In this way SAN can send a signal to OPIL server.

Instructions

1. Launch the opil server. Check the ip address.

$ sudo docker-compose up

2. Configure san socket. In the follow directory set the ip address of the opil server

$ san_socket/docker/config.json

Change ip-address by your opil server address. Note that quotes are required.

{
    "contextBroker": {
        "host": "ip-address",
        "port": "1026"
    ...
...   

Then, start docker container in san_socket/docker/docker-compose.yml

$ sudo docker-compose up

3. Launch ROS client for SAN module comunication

$ roslaunch san_socket client.launch 

4. Send a signal from ROS to OPIL server using SAN module. This package creates a ROS service called san_socket/trigger . Use it to send a flag to OPIL Server.

$ rosservice call /san_socket/trigger "{}"