Basilisk-ROS2 Messages (bsk-msgs)

ROS 2 message definitions converted from the Basilisk Astrodynamics Framework (BSK) C/C++ message definitions.

Overview

This repository contains ROS 2 message definitions that have been automatically converted from Basilisk Astrodynamics Framework's (BSK) C/C++ message definitions. The conversion tool ensures compatibility between BSK's internal messaging system and ROS 2, enabling seamless integration of BSK modules within ROS 2 environments.

Features

• Automatic Conversion: Includes a tool to automatically convert BSK's message definitions to ROS 2 .msg files
• Future-Proof: The conversion tool can be re-run to update message definitions as BSK evolves
• Type Mapping: Intelligent mapping from C/C++ types to ROS 2 message types
• Comment Preservation: Maintains documentation and comments from original BSK headers
• Macro Support: Handles BSK macro definitions for array sizes and constants

Installation

Build Instructions

1. Clone the repository into your ROS 2 workspace:

   cd your_ros2_workspace/src
   git clone https://github.com/DISCOWER/bsk-msgs.git

2. Build the package:

   cd ..
   colcon build --packages-select bsk-msgs

3. Source the workspace:

   source install/setup.bash

Usage

Once built and sourced, you can import and use the BSK message types in your ROS 2 nodes:

from bsk_msgs.msg import CmdForceBodyMsgPayload, CmdTorqueBodyMsgPayload, SCStatesMsgPayload
# Use the message types in your ROS 2 nodes

Message Conversion Tool

The repository includes a conversion tool that can regenerate the ROS 2 message definitions from BSK source code.

Running the Converter

1. Ensure the BSK_PATH environment variable points to your Basilisk installation:

   export BSK_PATH=/path/to/basilisk

2. Run the conversion tool:

   python3 tools/bsk_message_converter.py

Conversion Features

The conversion tool (tools/bsk_message_converter.py) provides:

• Type Mapping: Converts C/C++ types to appropriate ROS 2 types
• Array Handling: Processes fixed-size arrays using BSK macro definitions
• Comment Conversion: Preserves documentation from BSK headers
• Timestamp Addition: Automatically adds ROS 2 timestamp fields
• Macro Resolution: Resolves BSK macro definitions for array sizes and constants

Message Structure

All converted messages include:

• Timestamp: builtin_interfaces/Time stamp field for ROS 2 compatibility
• Original Fields: All fields from the BSK message definition
• Documentation: Preserved comments and documentation from BSK headers

Contributing

Contributions are welcome! Please:

1. Fork the repository
2. Create a feature branch
3. Make your changes
4. Test the conversion tool if modifying it
5. Submit a pull request

References

• Basilisk Astrodynamics Simulation
• ROS 2 Documentation
• BSK-ROS2 Bridge

License

This project is licensed under the BSD-3-Clause License - see the LICENSE file for details.

Authors

Elias Krantz
Email: eliaskra@kth.se