BSN2 - Body Sensor Network (ROS 2 Jazzy)

BSN2 is a ROS 2 Jazzy-based application for monitoring and processing sensor data from a body sensor network. It consists of four ROS 2 packages:

• patient
• sensor
• central_hub
• bsn_interfaces

This guide explains how to install, build, and run BSN2 using Docker for a streamlined and portable development environment.

Prerequisites

Before proceeding, ensure you have the following installed on your system:

• Docker

Installation & Setup

1. Clone the Repository

git clone git@github.com:rdinizcal/bsn2.git
cd bsn2

2. Build the Docker Image

docker build -t bsn2:latest .

3. Run the Container

To start an interactive session within the container:

docker run -it --rm bsn2:latest

This will start a container where ROS 2 is sourced, and you can run ROS 2 commands.

4. Running ROS 2 Nodes

Inside the running container, source the environment and run ROS 2 nodes:

source /opt/ros/jazzy/setup.bash
source /ros_ws/install/setup.bash

Run nodes (in different terminals)

ros2 run patient patient
ros2 run sensor thermometer

Development Workflow

Modifying Code

Changes to source files can be done locally and reflected inside the container if you mount the workspace as a volume:

docker run -it --rm -v $(pwd):/ros_ws bsn2:latest

If MacOS:

docker run -it --platform linux/amd64 bsn2:latest

Rebuilding the Workspace

After modifying the code, rebuild using:

colcon build
source /ros_ws/install/setup.bash

Stopping the Container

To exit and remove the container, use:

exit  # or Ctrl+D

Using devcontainer in vscode

1. download docker extension
2. click on reopen in container
3. if setup.sh was not executed and make sure it is in LF, run in ros_ws directory:

bash src/.devcontainer/setup.sh

4. run the launch file:

source /ros_ws/install/setup.bash
ros2 launch central_hub emergency_detection_launch.py

Contributing

To collaborate on BSN2 development:

1. Fork the repository.
2. Create a feature branch.
3. Commit changes and push to your branch.
4. Open a pull request.

License

BSN2 is licensed under [TBD - specify license].