Changed comms bridge config and changed debug output to info.

astrobee/config/communications/comms_bridge.config

@@ -28,23 +28,23 @@ links = {
     -- A single link entry has required fields "from" and "to" that specify the robot roles involved
     -- in the link.
     from = "Bumble",  -- manager
-    to = "Wannabee",     -- actor
+    to = "Honey",     -- actor
 
     -- The link entry has three optional fields: relay_forward (messages to be relayed only in the
     -- `from` to `to` direction), relay_backward (to be relayed only in the `to` to `from` direction),
     -- and relay_both (to be relayed in both directions). Providing all three fields gives the user
     -- full directional control while minimizing repetition and copy/paste errors.
     relay_forward = {
-      {in_topic = "beh/inspection/feedback"},
-      {in_topic = "beh/inspection/result"},
-      {in_topic = "beh/inspection/state"},
+      {in_topic = "honey/command", out_topic="command"},
     },
     relay_backward = {
-      {in_topic = "bumble/beh/inspection/cancel", out_topic = "beh/inspection/cancel"},
-      {in_topic = "bumble/beh/inspection/goal", out_topic = "beh/inspection/goal"},
+      {in_topic = "mgt/ack"},
+      {in_topic = "mob/motion/feedback"},
+      {in_topic = "beh/dock/feedback"},
     },
     relay_both = {
       {in_topic = "mgt/executive/agent_state"},
+      {in_topic = "mgt/sys_monitor/state"},
     },
   }
 }

communications/comms_bridge/include/comms_bridge/generic_rapid_sub.h

@@ -73,7 +73,7 @@ class GenericRapidSub {
   }
 
   void operator() (T const* data) {
-    ROS_DEBUG("Received data for topic %s\n", subscribe_topic_.c_str());
+    ROS_INFO("Received data for topic %s\n", subscribe_topic_.c_str());
     ros_pub_->ConvertData(data);
   }
 

communications/comms_bridge/src/comms_bridge_nodelet.cpp

@@ -223,8 +223,8 @@ class CommsBridgeNodelet : public ff_util::FreeFlyerNodelet {
       connection = rapid_connections_[i];
       dds_topic_name = agent_name_ + "-" +
           rapid::ext::astrobee::GENERIC_COMMS_ADVERTISEMENT_INFO_TOPIC;
-      ROS_DEBUG("Comms Bridge: DDS Sub DDS advertisement info topic name: %s\n",
-                dds_topic_name.c_str());
+      ROS_INFO("Comms Bridge: DDS Sub DDS advertisement info topic name: %s\n",
+               dds_topic_name.c_str());
       advertisement_info_sub =
         std::make_shared<ff::GenericRapidSub<rapid::ext::astrobee::GenericCommsAdvertisementInfo>>(
           "AstrobeeGenericCommsAdvertisementInfoProfile",
@@ -235,8 +235,8 @@ class CommsBridgeNodelet : public ff_util::FreeFlyerNodelet {
 
       dds_topic_name = agent_name_ + "-" +
                        rapid::ext::astrobee::GENERIC_COMMS_CONTENT_TOPIC;
-      ROS_DEBUG("Comms Bridge: DDS Sub DDS content topic name: %s\n",
-                dds_topic_name.c_str());
+      ROS_INFO("Comms Bridge: DDS Sub DDS content topic name: %s\n",
+               dds_topic_name.c_str());
       content_sub = std::make_shared<ff::GenericRapidSub<rapid::ext::astrobee::GenericCommsContent>>(
           "AstrobeeGenericCommsContentProfile",
           dds_topic_name,

communications/comms_bridge/src/generic_rapid_msg_ros_pub.cpp

@@ -36,8 +36,8 @@ void GenericRapidMsgRosPub::ConvertData(
 
   const std::string output_topic = data->outputTopic;
 
-  ROS_DEBUG("Comms Bridge Nodelet: Received advertisement message for topic %s\n",
-            output_topic.c_str());
+  ROS_INFO("Comms Bridge Nodelet: Received advertisement message for topic %s\n",
+           output_topic.c_str());
 
   AdvertisementInfo ad_info;
   ad_info.latching = data->latching;
@@ -62,8 +62,8 @@ void GenericRapidMsgRosPub::ConvertData(
 
   const std::string output_topic = data->outputTopic;
 
-  ROS_DEBUG("Comms Bridge Nodelet: Received content message for topic %s\n",
-            output_topic.c_str());
+  ROS_INFO("Comms Bridge Nodelet: Received content message for topic %s\n",
+           output_topic.c_str());
 
   std::map<std::string, RelayTopicInfo>::iterator iter = m_relay_topics_.find(output_topic);
   if (iter == m_relay_topics_.end()) {

communications/comms_bridge/src/generic_rapid_pub.cpp

@@ -27,16 +27,16 @@ GenericRapidPub::GenericRapidPub(std::string const& robot_name) :
   std::string dds_topic_name;
   dds_topic_name = robot_name + "-" +
                    rapid::ext::astrobee::GENERIC_COMMS_ADVERTISEMENT_INFO_TOPIC;
-  ROS_DEBUG("Comms Bridge: DDS Pub DDS advertisement info topic name: %s\n",
-            dds_topic_name.c_str());
+  ROS_INFO("Comms Bridge: DDS Pub DDS advertisement info topic name: %s\n",
+           dds_topic_name.c_str());
   advertisement_info_supplier_.reset(
     new GenericRapidPub::AdvertisementInfoSupplier(
       dds_topic_name, "", "AstrobeeGenericCommsAdvertisementInfoProfile", ""));
 
   dds_topic_name = robot_name + "-" +
                    rapid::ext::astrobee::GENERIC_COMMS_CONTENT_TOPIC;
-  ROS_DEBUG("Comms Bridge: DDS Publisher DDS content topic name: %s\n",
-            dds_topic_name.c_str());
+  ROS_INFO("Comms Bridge: DDS Publisher DDS content topic name: %s\n",
+           dds_topic_name.c_str());
   content_supplier_.reset(new GenericRapidPub::ContentSupplier(
     dds_topic_name, "", "AstrobeeGenericCommsContentProfile", ""));
 
@@ -108,7 +108,7 @@ void GenericRapidPub::ProcessAdvertisementInfo(std::string const& output_topic,
   }
 
   // Currently the ROS message definition can only by 8192 characters long
-  ROS_DEBUG("Definition is %i long\n", definition.size());
+  ROS_INFO("Definition is %i long\n", definition.size());
   CopyString<rapid::ext::astrobee::String8K>(8192,
                                              definition,
                                              msg.msgDefinition,

communications/comms_bridge/src/generic_ros_sub_rapid_pub.cpp

@@ -42,7 +42,7 @@ void GenericROSSubRapidPub::AddTopics(
       // advertisement info and content message to each roboot that needs it
       topic_mapping_[primary_out_topic] = it->second;
       // Add topic to base class
-      ROS_DEBUG("Adding topic %s to base class.", in_topic.c_str());
+      ROS_INFO("Adding topic %s to base class.", in_topic.c_str());
       addTopic(in_topic, primary_out_topic);
     }
   } else {
@@ -73,7 +73,7 @@ void GenericROSSubRapidPub::advertiseTopic(const RelayTopicInfo& relay_info) {
   const AdvertisementInfo &info = relay_info.ad_info;
   std::string out_topic = relay_info.out_topic, robot_name, robot_out_topic;
 
-  ROS_DEBUG("Received ros advertise topic for topic %s\n", out_topic.c_str());
+  ROS_INFO("Received ros advertise topic for topic %s\n", out_topic.c_str());
 
   // Make sure we recognize the topic
   if (topic_mapping_.find(out_topic) == topic_mapping_.end()) {
@@ -86,7 +86,7 @@ void GenericROSSubRapidPub::advertiseTopic(const RelayTopicInfo& relay_info) {
     robot_name = topic_mapping_[out_topic][i].first;
     robot_out_topic = topic_mapping_[out_topic][i].second;
 
-    ROS_DEBUG("Robot name: %s Robot out topic: %s\n", robot_name.c_str(), robot_out_topic.c_str());
+    ROS_INFO("Robot name: %s Robot out topic: %s\n", robot_name.c_str(), robot_out_topic.c_str());
 
     // Check robot connection exists
     if (robot_connections_.find(robot_name) == robot_connections_.end()) {
@@ -107,7 +107,7 @@ void GenericROSSubRapidPub::relayMessage(const RelayTopicInfo& topic_info,
                                          ContentInfo const& content_info) {
   std::string out_topic = topic_info.out_topic, robot_name, robot_out_topic;
   unsigned int size;
-  ROS_DEBUG("Received ros content message for topic %s\n", out_topic.c_str());
+  ROS_INFO("Received ros content message for topic %s\n", out_topic.c_str());
 
   // Make sure we recognize the topic
   if (topic_mapping_.find(out_topic) == topic_mapping_.end()) {
@@ -120,7 +120,7 @@ void GenericROSSubRapidPub::relayMessage(const RelayTopicInfo& topic_info,
     robot_name = topic_mapping_[out_topic][i].first;
     robot_out_topic = topic_mapping_[out_topic][i].second;
 
-    ROS_DEBUG("Robot name: %s Robot out topic: %s\n", robot_name.c_str(), robot_out_topic.c_str());
+    ROS_INFO("Robot name: %s Robot out topic: %s\n", robot_name.c_str(), robot_out_topic.c_str());
 
     // Check robot connection exists
     if (robot_connections_.find(robot_name) == robot_connections_.end()) {