Based on the C implementation of the SHERPA communication mediator here, the different systems / robots should be visualised.
Depending on the time constraints we would like to see:
- visualisation of the messages between zyre nodes within SHERPA to identify potential bottlenecks.
- visualisation of the robots on an OpenStreetMap and update their location during the mission.
- visualisation of the robot types and states (which activity is being executed, what is planned, ...).
The SHERPA message structure is defined in this document and examples of communication are provided here.
Each robot fill the header information with its configuration, so you can detect the type when it comes online. This header is a set of key value pairs and and example for SHERPA is given below:
{
"short-name": "wasp1",
"long-name": "<longname>",
"type": "wasp",
"capabilities": ["charge", "moveto"],
"local_endpoint": "ipc:///tmp/wasp1-local",
"gossip_endpoint": "ipc:///tmp/wasp1-local-hub"
}
Based on the C implementation of the SHERPA communication mediator here, the different systems / robots should be visualised.
Depending on the time constraints we would like to see:
The SHERPA message structure is defined in this document and examples of communication are provided here.
Each robot fill the header information with its configuration, so you can detect the type when it comes online. This header is a set of key value pairs and and example for SHERPA is given below:
{ "short-name": "wasp1", "long-name": "<longname>", "type": "wasp", "capabilities": ["charge", "moveto"], "local_endpoint": "ipc:///tmp/wasp1-local", "gossip_endpoint": "ipc:///tmp/wasp1-local-hub" }