RACS2 (ROS and cFS System 2) Extended-DDS

Overview

This repository is a collection of software and examples that message communication between Robot Operating System 2 (ROS2) nodes and core flight executives (cFE). cFE is a core component of NASA-supplied spacecraft software, Core Flight System (CFS).

This project provides ROS2/cFE examples with rclc-implemented cFS apps

If you would like to report a bug or have a request for an update, please contact us. We will respond on demand.

License

This project is under the Apache 2.0 license. See LICENSE text file.

Release Notes

• RACS2 (ROS2/cFE) project suite 1.0.0 is released.

Directory List

• ROS2 :
  • [TBU] RACS2 Extended-DDS software for ROS2.
• cFS :
  • [TBU] RACS2 Extended-DDS software for cFS.
• Document :
  • [TBU] Documents of RACS2.
• Example :
  • Example software of RACS2.
• Misc :
  • Other Information of RACS2.

Dependency

• Base OS :
  • Ubuntu 20.04 LTS
• ROS2 :
  • "ros-foxy" package.
  • rclc
• cFS Aquila:
  • cFE 6.7.0a
  • OSAL v5.0.0

Setup

Premise

• ROS2 and cFS shall be installed on the OS.
  • See below.
    • ROS2 Installation
    • cFS Installation

Procedure

• Preparing for Protocol Buffers.

  • C/C++ :

    sudo apt install -y libwebsockets-dev protobuf-c-compiler libprotobuf-c-dev
    

  • Python :

    pip install protobuf
    

• git clone the RACS2 Extended-DDS source code.

• Preparation of execution environment on the cFS side.

  • Go to the top of the cFS project directory and execute the following build command

    git clone --recursive https://github.com/nasa/cFS.git
    git checkout v6.7.0a
    git submodule update --init
    

  • Go to the top of the cFS project directory and execute the following build command

    cp cfe/cmake/Makefile.sample Makefile
    cp -r cfe/cmake/sample_defs sample_defs
    

  • Go to the top of the cFS project directory and execute the following build command

    make prep
    make
    make install
    

• Preparation of execution environment on the ROS2 side.

  • Go to the top of the ROS2 project directory and execute the following build command

    colcon build --symlink-install
    

• Start the cFS application.

  cd [cFS project path]/build/exe/cpu1
  ./core-cpu1
  

• Start the ROS2 publishers and subscribers.

• Start the cFS publishers and subscribers.

About Example

• See Example/README.md.

How to exchange messages

• [TBU]

Reference

• Hiroki Kato, et al. "RACS2: the ROS2 and cFS System, launched" Flight Software Workshop 2023.