Commit d8d4b1d6 authored by Paul Beuchat's avatar Paul Beuchat
Browse files

Started wiki page about namespaces

parent 94661ceb
# ROS Namespace Conventions
## Environment Variables
### ``ROS_NAMESPACE`` Environment Variable
All computers part of the ``D-FaLL-System`` should have the environment variable ``ROS_NAMESPACE`` set to the value ``dfall``.
You can check this from any terminal window with the command
```
echo $ROS_NAMESPACE
```
This environment vairable is set in the file:
```
pps_ws/src/d_fall_pps/launch/Config.sh
```
The environemnt variable is set by the following line in that file:
```
export ROS_NAMESPACE='dfall'
```
### ``DEFAULT_{AGENT,COORD}_ID`` Environment Variables
The ``Config.sh`` also sets the environment variables for the default agent ID and the default coordinator ID, called ``DFALL_DEFAULT_AGENT_ID`` and ``DFALL_DEFAULT_COORD_ID``. These are set by the following line in the ``Config.sh`` file:
```
export DFALL_DEFAULT_AGENT_ID=$(cat /etc/dfall_default_agent_id)
export DFALL_DEFAULT_COORD_ID=$(cat /etc/dfall_default_coord_id)
```
This is the only place in the whole ``D-FaLL-System`` where the files ``/etc/dfall_default_{agent,coord}_id`` are referred to.
NOTE:
- These files should never be access from within any code,<br>
- To use these default ID's within any code, they should be added as parameters when launch the respective node,<br>
- The launch files is the only place where the default ID environment variables should be used.<br>
## Launching nodes
To be filled in
\ No newline at end of file
<launch>
<!-- INPUT ARGUMENT OF THE AGENT's ID -->
<arg name="agentid" default="$(optenv DFALL_DEFAULT_ID)" />
<arg name="agentID" default="$(optenv DFALL_DEFAULT_AGENT_ID)" />
<!-- Example of how to use the value in agentid -->
<!-- <param name="param" value="$(arg agentid)"/> -->
<!-- Example of how to use the value in agentID -->
<!-- <param name="param" value="$(arg agentID)"/> -->
<group ns="agent$(arg agentid)">
<group ns="agent$(arg agentID)">
<!-- CRAZY RADIO -->
<node
......@@ -26,7 +26,7 @@
type = "PPSClient"
>
<rosparam command="load" file="$(find d_fall_pps)/param/ClientConfig.yaml" />
<param name="agentID" value="$(arg agentid)" />
<param name="agentID" value="$(arg agentID)" />
</node>
<!-- SAFE CONTROLLER -->
......@@ -55,7 +55,7 @@
type = "ParameterService"
>
<param name="type" type="str" value="agent" />
<param name="agentID" type="str" value="$(arg agentid)" />
<param name="agentID" type="str" value="$(arg agentID)" />
<rosparam
command = "load"
file = "$(find d_fall_pps)/param/SafeController.yaml"
......
export ROS_MASTER_URI=http://teacher:11311
export ROS_IP=$(hostname -I | awk '{print $1;}')
export DFALL_DEFAULT_ID=$(cat /etc/dfall_default_id)
export DFALL_DEFAULT_AGENT_ID=$(cat /etc/dfall_default_agent_id)
export DFALL_DEFAULT_COORD_ID=$(cat /etc/dfall_default_coord_id)
export ROS_NAMESPACE='dfall'
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment