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Mole integration

Alejo Carballude requested to merge feature/2.0_mole_integration into feature/virtual_stix_2

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Context

Mole integration requires launching a ROS/Pulsar bridge that communicates with the Gazebo server pod. This bridge converts specific ROS topics to Pulsar and forwards them to the Mole application for processing.

Change

The SubT launch pipeline has been updated to launch a Mole bridge pod when configured. In order to configure the bridge and launch the bridge for a specific world, a docker image URI must be specified in the optional SubTCircuitRules.MoleBridgeImage model field.

The bridge requires some environment variables to be configured to uniquely identify each simulation. The following environment variables are configured for the bridge during launch:

  • ROS_MASTER_URI is set to the Ignition Gazebo server's IP.
  • WORLD_ID Specifies the launched world. This value starts at 1 and is set to the multi-sim world identifier (as opposed to the run identifier).
  • TEAM_ID Specifies the team associated with the simulation. This value is set to the simulation's owning team database identifier.
  • REPLICATION_ID Simulation unique identifier. This value set to the simulation's GroupId.

A new Mole configuration store has been added to the default platform Store component. This store is used to configure the Mole bridge during launch.

Additional documentation

Edited by Alejo Carballude

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