coListener is a universal ROS topic listener that can subscribe to specified ROS topics and process data. It supports both ROS1 and ROS2, automatically adapting to different ROS environments.
- Dual ROS version support: Compatible with both ROS1 and ROS2 environments
- Multi-platform support: Supports amd64, arm64, armhf and other hardware platforms
- Multiple ROS distributions: Supports ROS1's indigo, ROS2's foxy and humble
- Persistent storage: Uses SQLite database to store message data
- Custom actions: Supports executing custom actions for received messages
- Batch processing: Periodically sends and processes collected messages in batches
- Supported platforms
| ROS distro | platform | Ubuntu distro |
|---|---|---|
| noetic | amd64, arm64 | focal |
| foxy | amd64, arm64 | focal |
| humble | amd64, arm64 | jammy |
| indigo | armhf | trusty |
| melodic | amd64, arm64 | bionic |
Install using apt
curl -fsSL https://apt.coscene.cn/coscene.gpg | sudo gpg --dearmor -o /etc/apt/trusted.gpg.d/coscene.gpg
echo "deb [signed-by=/etc/apt/trusted.gpg.d/coscene.gpg] https://apt.coscene.cn $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/coscene.list
sudo apt update
sudo apt install ros-$ROS_DISTRO-colistener # ROS1
cd ~/catkin_ws/src
git clone https://github.com/coscene-io/coListener.git
cd ..
catkin_make install
source install/setup.bash
# ROS2
cd ~/ros2_ws/src
git clone https://github.com/coscene-io/coListener.git
cd ..
colcon build
source install/setup.bash
-
ROS1
# Source ROS environment variables first (e.g.: source /opt/ros/noetic/setup.bash) roslaunch colistener colistener.launch -
ROS2
# Source ROS environment variables first (e.g.: source /opt/ros/humble/setup.bash) ros2 launch colistener colistener.launch.xml -
For rule engine related content, see: Add Rule
ROS1 configuration file path: /opt/ros/$ROS_DISTRO/share/colistener/launch/colistener.launch
ROS2 configuration file path: /opt/ros/$ROS_DISTRO/share/colistener/launch/colistener.launch.xml
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
| subscribe_topics | String Array | ['/error_report', '/event_tracking_report'] | List of topics to subscribe to |
| persistence_expire_secs | Integer | 1800 | Message data expiration time (sec) |
| persistence_file_path | String | "/tmp/colistener/persistence/ros1.db" or "/tmp/colistener/persistence/ros2.db" | Persistence database file path |
| action_type | String | "common" | Action type |
| log_directory | String | "/tmp/colistener/logs/" | Log storage directory |
❗After modifying the configuration file, you need to restart coListener
This project uses GitHub Actions to automatically build and publish Debian packages. When a new tag is pushed or a new release is created, the workflow automatically updates the version number and builds the corresponding Debian package.
coListener will record all the messages it subscribes to and parses in its log file, in order to locate and troubleshoot the problem, so please don't use colistener to subscribe to topics with large amount of data (e.g. sensor_msgs/Image, etc.) to prevent colistener from taking up a lot of disk IO and storage space.
- Adding a new action type
- Create a new action class header file in the listener_base/include/actions/ directory
- Implement the action class in the listener_base/src/actions/ directory
- Add registration and identification of the action type in the main program
This project is licensed under the Apache License 2.0. See the LICENSE file for details.
Maintainer: coscene@coscene.io