proton_ros2

proton_ros2 is a collection of packages for running proton on ROS 2 robots. These packages create an ecosystem to map proton bundles to ROS 2 messages and topics.

Official documentation can be found here

proton_ros2 relies on pluginlib to load user-defined "message adaptor" packages containing mappings between proton signals and ROS 2 messages. Message adaptor packages can be manually created, but we supply tools for automatically generating these packages based on the proton registry config.

Packages

proton_ros2

Core package for interfacing with protoncpp. Handles interfacing with the node_manager and signal_registry API's. Loads message adaptor packages via pluginlib. Subscribes to mapped topics for transmitting to proton peers, and publishes received proton bundles to ROS 2. Transport-related code is provided by proton_ros2_node, this package can be used standalone if you have a preferred Ethernet or serial interface package.

proton_ros2_interfaces

Header-only package defining the base class for proton message mapping plugins. Necessary dependency for creating a message adaptor package.

proton_ros2_adaptor_generator

Python scripts to create the message adaptor packages.

proton_ros2_node

ROS 2 node handling serial and/or ethernet transport and transport-level verification of data.

Building

mkdir -p proton_ws/src
cd proton_ws/src
git clone https://github.com/clearpathrobotics/proton_vendor.git
git clone https://github.com/clearpathrobotics/proton_ros2.git

cd ..
source /opt/ros/jazzy/setup.bash
colcon build --symlink-install

Proton Source Options

By default, proton_ros2 uses proton_vendor which downloads and builds proton from GitHub. For development with local proton changes, you can use proton from the same workspace:

1. Ensure proton and proton_vendor are cloned in the same workspace: git clone https://github.com/clearpathrobotics/proton.git git clone https://github.com/clearpathrobotics/proton_vendor.git
2. Build with PROTON_VENDOR_USE_LOCAL=ON: colcon build --cmake-args -DPROTON_VENDOR_USE_LOCAL=ON --symlink-install