Caution

NUbridge is archived as version 1.7 of the Booster Robotics SDK has made it redundant. Therefore, it will not be supported.

README

NUbridge is a shared memory bridge that aims to bridge ROS2 and the NUbots codebase by writing messages from ROS2 topics to shared memory.

Currently, it only supports reading from Image topics (with a concurrent camera info topic read) via ImageTopicReader, but the long-term goal is to make this work with more ROS2 message types.

Dependencies

• ROS2 (should work with most distros, but only tested on Humble)
• Boost (uses same version as Ubuntu 22.04, i.e. v1.74)

Setup

NOTE: NUbridge is currently only setup for use with the Booster K1, and wasn't developed with local testing in mind (yet).

1. Deploy NUbridge using install.sh as shown below:

./install.sh username@host [remote_workspace]

where:

• username@host — the SSH target to deploy to.
• remote_workspace — optional path for the synced source on the remote. Defaults to $HOME/NUbridge.

Once deployed, manage it via systemd (systemctl status nubridge, journalctl -u nubridge -f, etc.).