add a jump handler to trigger restarting the controller bridge when there is a jump backwards on the simulated clock.

Author: JohnTGZ

flowstate/aic_flowstate_ros_bridge/CMakeLists.txt

@@ -83,12 +83,6 @@ target_link_libraries(${SERVICE_NAME}_main
   ${SERVICE_NAME}_protos
 )
 
-# Generate the manifest and default config binarypb files
-add_dependencies(${SERVICE_NAME}_main
-  ${SERVICE_NAME}_manifest
-  ${SERVICE_NAME}_default_config
-)
-
 #===============================================================================
 
 install(TARGETS
@@ -98,12 +92,10 @@ install(TARGETS
   DESTINATION lib/${PROJECT_NAME}
 )
 
-# Install proto descriptor, manifest, and config files
+# Install proto descriptor file
 install(FILES
   ${CMAKE_CURRENT_BINARY_DIR}/${SERVICE_NAME}_protos.desc
-  ${CMAKE_CURRENT_BINARY_DIR}/service_manifest.binarypb
-  ${CMAKE_CURRENT_BINARY_DIR}/default_config.binarypb
-  DESTINATION share/${PROJECT_NAME}/${SERVICE_NAME}
+  DESTINATION share/${PROJECT_NAME}
 )
 
 install(DIRECTORY config proto launch

flowstate/aic_flowstate_ros_bridge/README.md

@@ -24,7 +24,7 @@ cd ~/ws_aic
 
 ```bash
 # 1. Export path to side-loaded service bundle
-export SERVICE_BUNDLE=~/ws_aic/images/aic_flowstate_ros_bridge.bundle.tar
+export SERVICE_BUNDLE=~/ws_aic/images/aic_flowstate_ros_bridge/aic_flowstate_ros_bridge.bundle.tar
 
 # 2. Add Organization
 export INTRINSIC_ORGANIZATION="<ORG_NAME>"
@@ -37,3 +37,12 @@ export INTRINSIC_CLUSTER="vmp-xxxx-xxxxxxx"
   --cluster $INTRINSIC_CLUSTER \
   $SERVICE_BUNDLE
 ```
+
+<!-- todo(johntgz) documentation -->
+## Interfaces
+
+### Services
+
+### Published Topics
+
+### Subscribed Topics

flowstate/aic_flowstate_ros_bridge/aic_flowstate_ros_bridge.proto

@@ -9,6 +9,7 @@ message RobotControlBridgeConfig {
   string part_name = 3;
   string task_settings_file = 4;
   string joint_task_settings_file = 5;
+  bool use_sim_time = 6;
 }
 
 // Configuration to control which sensors are enabled to publish ROS 2 messages.

flowstate/aic_flowstate_ros_bridge/aic_flowstate_ros_bridge_default_config.pbtxt

@@ -33,5 +33,6 @@
     part_name: "arm"
     task_settings_file: "config/default_task_settings.pbtxt"
     joint_task_settings_file: "config/default_joint_task_settings.pbtxt"
+    use_sim_time: true
   },
 }

flowstate/aic_flowstate_ros_bridge/launch/aic_flowstate_ros_bridge_launch.py

@@ -13,7 +13,6 @@
 # limitations under the License.
 
 import os
-from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
@@ -78,6 +77,7 @@ def generate_launch_description():
                 output="screen",
                 parameters=[
                     {
+                        "use_sim_time": True,
                         "autostart": True,
                         "service_tunnel": LaunchConfiguration("service_tunnel"),
                         "flowstate_zenoh_router_address": LaunchConfiguration(

flowstate/aic_flowstate_ros_bridge/src/aic_flowstate_ros_bridge_main.cpp

@@ -116,6 +116,8 @@ int main(int argc, char* argv[]) {
                       robot_control_bridge_config.task_settings_file());
   params.emplace_back("joint_task_settings_file",
                       robot_control_bridge_config.joint_task_settings_file());
+  params.emplace_back("use_sim_time",
+                      robot_control_bridge_config.use_sim_time());
 
   options.parameter_overrides(params);