This package contains a ROS-DTN proxy which enables ROS communication over DTN.
Requires a running dtnd instance of the dtn7-rs project.
Contents:
- config/node0.toml: Example Configuration file
- external/: launch files
- launch/: launch file
Edit the configuration file in config/node0.toml.
Mandatory parameters are listed under the [dtn] tag.
The following modules are currently available for use in optimization profiles:
| Module | Parameter | Description |
|---|---|---|
| Combine | topic1, topic2, ... topicN | Combines messages from multiple topics before transmission |
| CombineTF | tf_frame1, tf_frame2 | Appends a tf2 transform message from tf_frame1 to tf_frame2 |
| Compress | - | Compresses messages before transmission |
| Expire | - | Marks old messages as expired |
| OnChange | - | Only sends messages that have changed from the previous one |
| RateLimit | Duration in seconds | Limits the topic rate to one message per time duration |
All parameters are expected as string values.
Launch the proxy using ros2 launch dtn_proxy default_launch.py.
Optional launch parameters can change the config file (configurationPath) and the log level (log_level).
Example:
ros2 launch dtn_proxy default_launch.py log_level:=INFO configurationPath:=path/to/config.toml