Initial commit of ros_relay

Dockerfile

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+FROM ros:melodic-ros-base
+
+RUN apt-get update
+RUN apt-get install ros-melodic-rosbridge-suite python3-pip ros-melodic-mavros-msgs -y
+RUN pip3 install --upgrade pip setuptools
+#RUN sh -c "curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh"
+
+RUN pip3 install roslibpy pyyaml rospkg
+RUN pip3 install git+https://github.com/DFKI-NI/rospy_message_converter
+
+RUN bash -c "source /opt/ros/melodic/setup.bash \
+ && mkdir -p /overlay_ws/src \
+ && cd /overlay_ws \ 
+ && catkin_make"
+
+COPY ./ros_relay/ /overlay_ws/src/ros_relay/
+
+WORKDIR /overlay_ws
+
+RUN bash -c "source devel/setup.bash && catkin_make"
+
+ENV PYTHONUNBUFFERED=1
+
+CMD bash -c "source devel/setup.bash && rosrun ros_relay relay.py"

docker-compose.yaml

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+version: "3.3"
+
+services:
+  ros_relay:
+    build: ./
+    network_mode: host
+    environment:
+      HOST: "192.168.1.89"
+      PORT: "9090"
+      TOPIC_PREFIX: "/spiri/aurelia/"
+      TOPICS: "/mavros/battery,/mavros/global_position/"
+    volumes:
+      - ./ros_relay/:/overlay_ws/src/ros_relay/

ros_relay/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(ros_relay)
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+  message_generation 
+  std_msgs)
+catkin_python_setup()
+
+catkin_install_python(PROGRAMS
+    src/ros_relay/__init__.py
+DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/ros_relay)
+
+generate_messages(DEPENDENCIES std_msgs)
+

ros_relay/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>ros_relay</name>
+  <version>0.1.0</version>
+  <description>Relay ros topics to central rosbridge</description>
+
+  <maintainer email="alex.davies@spirirobotics.com">Alex Davies</maintainer>
+  <author email="alex.davies@spirirobotics.com">Alex Davies</author>
+  <license>Not open source</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <run_depend>message_runtime</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>roslaunch</run_depend>
+  <run_depend>std_msgs</run_depend>
+  
+</package>

ros_relay/scripts/relay.py

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+#!/usr/bin/env python3
+import rospy
+from std_msgs.msg import String
+from importlib import import_module
+from rospy_message_converter import message_converter
+import json
+import roslibpy
+import os
+
+rosbridge = roslibpy.Ros(host=os.environ['HOST'], port=int(os.environ['PORT']))
+rosbridge.run()
+
+def callback_battery(data):
+    print(data)
+    print("-------")
+
+    
+class GenericMessageSubscriber(object):
+    def __init__(self, topic_name, callback):
+        self._binary_sub = rospy.Subscriber(
+            topic_name, rospy.AnyMsg, self.generic_message_callback)
+        self._callback = callback
+
+    def generic_message_callback(self, data):
+        connection_header =  data._connection_header['type'].split('/')
+        ros_pkg = connection_header[0] + '.msg'
+        msg_type = connection_header[1]
+        msg_class = getattr(import_module(ros_pkg), msg_type)
+        msg = msg_class().deserialize(data._buff)
+        self._callback(msg)
+
+
+class GenericMessageRelay(object):
+    def __init__(self, topic_name,topic_prefix=""):
+        """topic_prefix is what we prefix the topic with
+        at the other end
+        """
+        self.topic_name=topic_name
+        self.topic_prefix=topic_prefix
+        self._binary_sub = rospy.Subscriber(
+            topic_name, rospy.AnyMsg, self.generic_message_callback)
+        self.talker=None
+
+    def _callback(self,data):
+        jdata = message_converter.convert_ros_message_to_dictionary(data)
+        print(jdata)
+        self.talker.publish(jdata)
+
+    def generic_message_callback(self, data):
+        connection_header =  data._connection_header['type'].split('/')
+
+        if not self.talker:
+            self.talker = roslibpy.Topic(rosbridge,self.topic_prefix+self.topic_name,data._connection_header['type'])
+
+        ros_pkg = connection_header[0] + '.msg'
+        msg_type = connection_header[1]
+        msg_class = getattr(import_module(ros_pkg), msg_type)
+        msg = msg_class().deserialize(data._buff)
+        self._callback(msg)
+
+def listener():
+    print("starting up")
+    rospy.init_node('relay', anonymous=True)
+    for topic in os.environ["TOPICS"].split(','):
+        GenericMessageRelay(topic,topic_prefix=os.environ["TOPIC_PREFIX"])
+
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()

ros_relay/setup.py

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+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['ros_relay'],
+    package_dir={'': 'src'},
+    requires=['std_msgs', 'rospy']
+)
+
+setup(**setup_args)