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Refs 18292. Fixing Integration-Service dockerfile and FIWARE-SH example #49

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248d014
Refs 18292. Fixing Integration-Service dockerfile and FIWARE-SH example
Apr 24, 2023
f710550
Refs 18292. Updating the example according to fix in FIWARES-SH #36
Apr 28, 2023
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13 changes: 8 additions & 5 deletions docs/aux_files/Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -38,17 +38,19 @@ COPY --from=foxy_overlay /ros_entrypoint.sh /ros2_entrypoint.sh
RUN apt-get update && apt-get install -f -y git \
libyaml-cpp-dev \
libboost-program-options-dev libboost-system-dev \
libwebsocketpp-dev
libwebsocketpp-dev \
libcurlpp-dev libasio-dev libcurl4-openssl-dev

# Prepare Integration Service workspace
RUN mkdir -p /is_ws/src \
&& cd /is_ws/src \
&& git clone https://github.com/eProsima/Integration-Service.git is -b bugfix/ros1_examples_installation \
&& git clone https://github.com/eProsima/xtypes.git --recursive xtypes \
&& git clone https://github.com/eProsima/Integration-Service.git is \
&& git clone https://github.com/eProsima/xtypes.git -b feature/cross_platform --recursive xtypes \
&& git clone https://github.com/eProsima/WebSocket-SH.git \
&& git clone https://github.com/eProsima/ROS1-SH.git \
&& git clone https://github.com/eProsima/ROS2-SH.git \
&& git clone https://github.com/eProsima/FastDDS-SH.git
&& git clone https://github.com/eProsima/FastDDS-SH.git \
&& git clone https://github.com/eProsima/FIWARE-SH.git

# Compile the Integration Service
WORKDIR /is_ws
Expand All @@ -62,7 +64,8 @@ RUN /ros2_entrypoint.sh \
colcon build --event-handler=console_direct+ \
--packages-skip-regex is-ros1 \
--cmake-args -DBUILD_FASTDDS_EXAMPLES=ON -DBUILD_ROS1_EXAMPLES=OFF \
-DBUILD_WEBSOCKET_EXAMPLES=ON -DMIX_ROS_PACKAGES="example_interfaces" --install-base /opt/is
-DBUILD_WEBSOCKET_EXAMPLES=ON \
-DMIX_ROS_PACKAGES="example_interfaces" --install-base /opt/is

RUN sed -e 's?ros/noetic?is?g' /ros1_entrypoint.sh > /is_entrypoint.sh && \
chmod +x /is_entrypoint.sh
Expand Down
52 changes: 18 additions & 34 deletions docs/examples/different_protocols/pubsub/fiware-ros2.rst
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Expand Up @@ -77,7 +77,7 @@ Below we explain how to deploy an example of this communication in both directio
ROS 2 pub to FIWARE
-----------------------

To enable communication from *ROS 2* to *FIWARE*, open three terminals:
To enable communication from *ROS 2* to *FIWARE*, open two terminals:

* In the first terminal, go to the :code:`is-workspace` folder, source the *ROS 2* and local installations, and execute
*eProsima Integration Service* with the :code:`integration-service` command followed by the
Expand All @@ -97,32 +97,16 @@ To enable communication from *ROS 2* to *FIWARE*, open three terminals:
source install/setup.bash
integration-service src/Integration-Service/examples/basic/ros2_fiware__helloworld.yaml

* In the second terminal, create the corresponding entities in the *FIWARE’s Context Broker*:

.. code-block:: bash

curl 172.17.0.1:1026/v2/entities -s -S -H 'Content-Type: application/json' -d @* <<EOF
{
"id": "hello_fiware",
"type": "HelloWorld",
"data": {
"value": "",
"type": "String"
}
}
EOF

Now, in your browser, go to `http://172.17.0.1:1026/v2/entities <http://172.17.0.1:1026/v2/entities>`_.
You should see the context broker entity named **hello_fiware** previously created.

* In the third terminal, source the *ROS 2* installation and launch the *ROS 2* :code:`pub`:
* In the second terminal, source the *ROS 2* installation and launch the *ROS 2* :code:`pub`:

.. code-block:: bash

source /opt/ros/$<ROS2_DISTRO>/setup.bash
ros2 topic pub /hello_fiware std_msgs/msg/String “{data: Hello FIWARE}”
ros2 topic pub /hello_fiware std_msgs/msg/String "{data: Hello FIWARE}"

Now, if you press `F5` in the browser, you should see that the entity has been correctly updated.
Now, in your browser, go to `http://172.17.0.1:1026/v2/entities <http://172.17.0.1:1026/v2/entities>`_.
You should see a context broker entity named **hello_fiware**.
Now, if you press `F5` in the browser, you should see that the entity is updated with the ROS provided values.


FIWARE to ROS 2 echo
Expand Down Expand Up @@ -150,16 +134,16 @@ To enable communication from *FIWARE* to *ROS 2*, open three terminals:

* In the second terminal, create the corresponding entities in the *FIWARE’s Context Broker*:

.. code-block:: bash
.. code-block:: json

curl 172.17.0.1:1026/v2/entities -s -S -H 'Content-Type: application/json' -d @- <<EOF
{
"id": "hello_ros2",
"type": "HelloWorld",
"data": {
"value": "",
"type": "String"
}
"id": "hello_ros2",
"type": "HelloWorld",
"data": {
"value": "",
"type": "String"
}
}
EOF

Expand All @@ -175,14 +159,14 @@ You should see the context broker entity named **hello_fiware** previously creat

* Again in the second terminal, update the *FIWARE* entity hosted in the *Context Broker*:

.. code-block:: bash
.. code-block:: json

curl 172.17.0.1:1026/v2/entities/hello_ros2/attrs?type=HelloWorld -s -S -H 'Content-Type: application/json' -X PUT -d @- <<EOF
{
"data": {
"value": "Hello, ROS 2",
"type": "String"
}
"data": {
"value": "Hello, ROS 2",
"type": "String"
}
}
EOF

Expand Down