ROS Vehicle Source
Node ID: rosVehicleSource · Role: Source · Realtime config: no
Description
Subscribes to a ROS2 UnifiedVehicleState topic via zenoh-bridge-ros2dds. Converts per-wheel speeds (rad/s) to linear velocity (m/s) and emits VehicleSpeed.
Inputs / Outputs
- Inputs: (none)
- Outputs:
VehicleSpeed
Config aliases
RosVehicleSource, rosVehicleSource
Properties
Each row shows the setting’s label in the node’s Properties panel and, in code, its key in the node’s settings object in the config file. A setting omitted from the config file uses the default shown here.
| Property | Type | Default | Description |
|---|---|---|---|
Zenoh Key zenohKey | string | unified_vehicle_state | |
Bridge Endpoint bridgeEndpoint | string | tcp/[::1]:7447 | |
Auto-spawn Bridge autoSpawnBridge | boolean | true | |
Bridge ROS_DOMAIN_ID bridgeRosDomainId | number | 0 | ROS_DOMAIN_ID env var passed to the spawned bridge. Must match the value used by your ROS 2 nodes. |
Bridge CycloneDDS URI (advanced) bridgeCyclonedssUri | string | "" | Optional. Path or file:// URI to a CycloneDDS XML config. Overrides static peers and network interface below. |
Bridge Static Peers (comma-separated IPs) bridgeStaticPeers | string | 127.0.0.1 | Comma-separated IPs of remote DDS participants for unicast SPDP discovery. |
Bridge Network Interface (IP) bridgeNetworkInterface | string | 127.0.0.1 | IP of the network interface CycloneDDS should bind to. |
Wheel Radius (m) wheelRadius | number | 0.3 | |
Sender ID senderId | string | ros_vehicle |
Example node definition
A minimal entry in config.json looks like the block below. Paste it under the sources key, keyed by an instance name of your choice. All settings are optional: anything not listed under settings uses the default from the Properties table above. See The configuration file for how the sections and endpoint wiring work.
{
"sources": {
"rosVehicleSource": {
"outEndpoint": "inproc://rosVehicleSource_data",
"settings": {}
}
}
}