Kinemic ROS2 Bridge

Bridge Package

The directory kinemic_ros_bridge contains a ROS2 Python Package that forwards Events from a Kinemic Gesture Service instance to a ROS Topic.

Details about Service instance to use are currently defined in code can be configured in the node script kinemic_ros_node.py
By default the Service instance is expected to run on the Docker Host executing the Dockerized Setup below.

Details about the forwarded Events can be found on the Kinemic Developer Portal

Dependencies

The Package uses the Kinemic Gesture Service Python Package to communicate with the Service instance.

You can install this package, e.g. with pip, using our PyPi Repository https://repo.kinemic.com/repository/pypi/simple/

python3 -m pip install -U kserviceconnect --extra-index-url 'https://repo.kinemic.com/repository/pypi/simple/'

Connection Handling

The Bridge only forwards Events, and is currently not intended to handle requests or establish connections to Kinemic Bands.

You can use the Kinemic Remote to connect to the same Service instance the Bridge communicates with and then use it to connect Bands.

You can download a release of the Kinemic Remote here

Dockerized Setup

The Dockerfile in this Repo, based on the ros:foxy image, builds a ROS Workspace and installs the kinemic_ros_bridge together with the Packages from the ROS2 Examples Collection

This image is then used in the Docker Compose Setup to spawn both an instance of the forwarding Bridge, and a listener that listens for events from the default topic chatter, that the Bridge also publishes to by default.

To both build the image and spawn the containers, run:

docker-compose build
docker-compose up -d

The listener Container should then print the received message from the bridge:

$ docker-compose logs -f listener
Attaching to ros_bridge_listener_1
listener_1  | [INFO] [1665044762.104814454] [listener]: I heard: [{"type": "Heartbeat", "parameters": {"bands": ["e4:bc:de:23:da:97"], "timestamp": 1665044762075}}]
listener_1  | [INFO] [1665044764.078976313] [listener]: I heard: [{"type": "Heartbeat", "parameters": {"bands": ["e4:bc:de:23:da:97"], "timestamp": 1665044764076}}]
listener_1  | [INFO] [1665044766.080378131] [listener]: I heard: [{"type": "Heartbeat", "parameters": {"bands": ["e4:bc:de:23:da:97"], "timestamp": 1665044766077}}]