diff --git a/communication.md b/communication.md index abc3f5c1aebdc828ffc7b7ebd8b1bb89f71c9d8a..57a1feecba59e40dcf0d486cf136e27e9c9146ab 100644 --- a/communication.md +++ b/communication.md @@ -4,11 +4,7 @@ We have the problem with how to communicate between different agents when we most probably have unreliable or band width limited communication channels between agents. -We also have the issue that there is a legacy implementation in ROS1 -we want to be compatible with. - -For a system with only ROS2 agents we can choose one of the -following way to communicate between agents: +We can choose one of the following way to communicate between agents: - Use ROS2. We need to make sure the DDS layer is configured correctly in this case. All agents will have the same value for ROS_DOMAIN_ID. @@ -38,9 +34,8 @@ from other agents. The topics which are used across agents are: - [/distribute_tree](https://gitlab.liu.se/lrs2/lrs_msgs_tst/-/blob/master/msg/TSTDistributeTreeInfo.msg) - [/update_node](https://gitlab.liu.se/lrs2/lrs_msgs_tst/-/blob/master/msg/TSTUpdateNodeInfo.msg) - [/response](https://gitlab.liu.se/lrs2/lrs_msgs_common/-/blob/master/msg/Response.msg) -- /tst_expand_command -- /tst_expand_response - /tst_display_request +- ADD NEW TOPICS... Here we probably need to fine tune DDS to get wanted communication properties. This has not been done yet. Also the global /tf will not