Package: triorb_os_setting

OS制御、環境設定API

有線ネットワーク設定取得

• Topic：(prefix)/get/os/setting/network/wire
• Node：(prefix)_os_setting
• Type：triorb_static_interface/srv/SettingIPv4
• Usage：

  triorb@orin-nx-XXX:~/$ ros2 service call /get/os/setting/network/wire triorb_static_interface/srv/SettingIPv4
  ...
  response:
  triorb_static_interface.srv.SettingIPv4_Response(result=[triorb_static_interface.msg.SettingIPv4(device='eth0', method='auto', adress=[], mask=0, gateway=[], mac=[72, 176, 45, 216, 224, 9])])
  

無線ネットワーク設定取得

• Topic：(prefix)/get/os/setting/network/wifi
• Node：(prefix)_os_setting
• Type：triorb_static_interface/srv/SettingIPv4
• Usage：

  triorb@orin-nx-XXX:~/$ ros2 service call /get/os/setting/network/wifi triorb_static_interface/srv/SettingIPv4
  ...
  response:
  triorb_static_interface.srv.SettingIPv4_Response(result=[triorb_static_interface.msg.SettingIPv4(device='wlan0', method='auto', adress=[192, 168, 21, 25], mask=24, gateway=[192, 168, 21, 1], mac=[212, 216, 83, 169, 227, 214])])
  

接続可能なアクセスポイント一覧取得

• Topic：(prefix)/get/os/setting/network/ssid
• Node：(prefix)_os_setting
• Type：triorb_static_interface/srv/SettingSSID
• Usage：

  triorb@orin-nx-XXX:~/$ ros2 service call /get/os/setting/network/ssid triorb_static_interface/srv/SettingSSID 
  ...
  response:
  triorb_static_interface.srv.SettingSSID_Response(result=[triorb_static_interface.msg.SettingSSID(ssid='TriOrb-wifi', passphrase='', security='WPA2/WPA3', signal=100), triorb_static_interface.msg.SettingSSID(ssid='KIC-wifi', passphrase='', security='WPA2/WPA3', signal=90), …])
  

シャットダウン・再起動

• Topic：(prefix)/os/shutdown
• Node：(prefix)_os_setting
• Type：std_msgs/String
• Note: 即時実行
• Usage：

  triorb@orin-nx-XXX:~/$ ros2 topic pub /os/shutdown std_msgs/String '{data: reboot}'
  

ROS環境変数取得

• Topic：(prefix)/get/os/setting/ros
• Node：(prefix)_os_setting
• Type：triorb_static_interface/srv/SettingROS
• Usage：

  triorb@orin-nx-XXX:~/$ ros2 service call /get/os/setting/ros triorb_static_interface/srv/SettingROS
  ...
  response:
  triorb_static_interface.srv.SettingROS_Response(result=triorb_static_interface.msg.SettingROS(ros_localhost_only=True, ros_domain_id=0, ros_prefix=''))
  

ROS環境変数設定

• Topic：(prefix)/get/os/setting/ros
• Node：(prefix)_os_setting
• Type：triorb_static_interface/msg/SettingROS
• Note: 再起動後に有効化
• Usage：

  triorb@orin-nx-XXX:~/$ ros2 topic pub -1 /os/setting/ros triorb_static_interface/msg/SettingROS '{ros_localhost_only: False, ros_domain_id: 33, ros_prefix: test}'
  publisher: beginning loop
  publishing #1: triorb_static_interface.msg.SettingROS(ros_localhost_only=False, ros_domain_id=33, ros_prefix='test')
  

アクセスポイントへ接続

• Topic：(prefix)/os/setting/network/ssid
• Node：(prefix)_os_setting
• Type：triorb_static_interface/msg/SettingSSID
• Note: 即時反映
• Usage：

  triorb@orin-nx-XXX:~/$ ros2 topic pub -1 /os/setting/network/ssid triorb_static_interface/msg/SettingSSID '{ssid: TriOrb-wifi, passphrase: password}'
  triorb@orin-nx-XXX:~/$ nmcli -f ALL dev wifi | grep yes # 確認
  

有線ネットワークの設定を変更

• Topic：(prefix)/os/setting/network/wire
• Node：(prefix)_os_setting
• Type：triorb_static_interface/msg/SettingIPv4
• Note: 即時反映
• Usage：

  triorb@orin-nx-XXX:~/$ ros2 topic pub -1 /os/setting/network/wire triorb_static_interface/msg/SettingIPv4 '{method: manual, adress: [192,168,21,155], mask: 24, gateway: [192,168,21,1]}' # 手動設定
  triorb@orin-nx-XXX:~/$ ros2 topic pub -1 /os/setting/network/wire triorb_static_interface/msg/SettingIPv4 '{method: auto}' # 自動取得
  triorb@orin-nx-XXX:~/$ ros2 topic pub -1 /os/setting/network/wire triorb_static_interface/msg/SettingIPv4 '{method: shared}' # DHCPサーバー化
  

Wi-Fiアクセスポイントを構築する

SSID設定をpublish後に無線ネットワークの設定を’{method: shared}’として設定することでアクセスポイントの構築が出来る

• Note: 即時反映
• Usage：

  triorb@orin-nx-XXX:~/$ ros2 topic pub -1 /os/setting/network/ssid triorb_static_interface/msg/SettingSSID '{ssid: TriOrb-AMR, passphrase: triorb_base}' # SSIDを設定する
  triorb@orin-nx-XXX:~/$ ros2 topic pub -1 /os/setting/network/wifi triorb_static_interface/msg/SettingIPv4 '{method: shared}' # APを立てる
  triorb@orin-nx-XXX:~/$ ros2 topic pub -1 /os/setting/network/ssid triorb_static_interface/msg/SettingSSID '{ssid: TriOrb-wifi, passphrase: password}' # 元に戻す（数分かかる）
  

OS制御、環境設定Types