Notes from ROS setup on the deepracer

commands.md

Load up the ROS environment.

source /opt/aws/deepracer/setup.bash

Listing nodes.

$ rosnode list
/control_node
/inference_engine
/inference_probability
/media_engine
/model_optimizer
/navigation_node
/rosout
/servo_node
/software_update
/web_video_server
/webserver

Looking at the media_engine in more detail.

$ rosnode info /media_engine
--------------------------------------------------------------------------------
Node [/media_engine]
Publications: 
 * /rosout [rosgraph_msgs/Log]
 * /video_mjpeg [sensor_msgs/Image]

Subscriptions: None

Services: 
 * /media_engine/get_loggers
 * /media_engine/set_logger_level
 * /media_state


contacting node http://amss-n4lp:45007/ ...
Pid: 2334
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /video_mjpeg
    * to: /web_video_server
    * direction: outbound
    * transport: TCPROS

Looking at the /control_node in more detail.

$ rosnode info /control_node
--------------------------------------------------------------------------------
Node [/control_node]
Publications: 
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /auto_drive [ctrl_pkg/ServoCtrlMsg]
 * /calibration_drive [unknown type]
 * /manual_drive [ctrl_pkg/ServoCtrlMsg]

Services: 
 * /autonomous_throttle
 * /car_state
 * /control_node/get_loggers
 * /control_node/set_logger_level
 * /enable_state
 * /get_car_cal
 * /model_state
 * /set_car_cal


contacting node http://amss-n4lp:35971/ ...
Pid: 2355
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /auto_drive
    * to: /navigation_node (http://amss-n4lp:39653/)
    * direction: inbound
    * transport: TCPROS
 * topic: /manual_drive
    * to: /webserver (http://amss-n4lp:32775/)
    * direction: inbound
    * transport: TCPROS

Looking at the /servo_node in more detail.

$ rosnode info /servo_node
--------------------------------------------------------------------------------
Node [/servo_node]
Publications: 
 * /rosout [rosgraph_msgs/Log]

Subscriptions: None

Services: 
 * /get_cal
 * /servo_cal
 * /servo_gpio
 * /servo_node/get_loggers
 * /servo_node/set_logger_level
 * /servo_state
 * /set_led_state
 * /set_raw_pwm


contacting node http://amss-n4lp:43011/ ...
Pid: 2331
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS

Listing topics.

$ rostopic list
/auto_drive
/calibration_drive
/manual_drive
/rl_results
/rosout
/rosout_agg
/video_mjpeg

deepracer.launch

<?xml version="1.0"?>
<launch>
    <node pkg="web_video_server" type="web_video_server" name="web_video_server">
        <param name="ros_threads" value="1" />
    </node>
    <node name="servo_node" pkg="servo_pkg" type="servo_node" respawn="true" />
    <node name="media_engine" pkg="media_pkg" type="media_node" respawn="true" />

    <node name="inference_engine" pkg="inference_pkg" type="inference_node" respawn="true" output="screen"/>
    <node name="inference_probability" pkg="inference_pkg" type="inference_probability.py" respawn="true"/>
    <node name="model_optimizer" pkg="inference_pkg" type="model_optimizer_node.py" respawn="true" />

    <node name="control_node" pkg="ctrl_pkg" type="ctrl_node" respawn="true" />
    <node name="navigation_node" pkg="ctrl_pkg" type="navigation_node.py" respawn="true" />
    <node name="software_update" pkg="software_update_pkg" type="software_update_process.py" respawn="true" />
    <node name="webserver" pkg="webserver_pkg" type="webserver.py" respawn="true" />
</launch>