Body Sensor Network in ROS2

This is the implementation of a Body Sensor Network (BSN) in ROS2. It is designed to run on Linux and based on the ROS2 Humble Hawksbill distribution. It aims to simulate the transmission of data from several sensors to a receiving hub in a medical setting.

Implementation

A sensor is a publisher node, which publishes to 2 topics:

1. registration_status_topic: the data transmited consists of 1. integer (called "num", which corresponds to sensor_id, and 2. boolean value (called "data", which corresponds to whether the sensor is active or not)
2. health_data_topic: the data transmitted consists of 1. integer (called "num", which corresponds to sensor_id, and 2. string (called "data", which corresponds to the measured data in a sensor).

The node will only publish to health_data_topic, when the sensor active is, that is the boolean value "data" of registration_status_topic is true.

A receiving hub is a subscriber node, which subscribes to the 2 topics. It then saves each topic to an array called "array_registration_status_" "array_health_data_" and respectively. Each array contains data from all the sensors. Data corresponding to a unique sensor can be accessed using their unique sensor_id, with the help of associative map.

The sensor and the hub is in the package "system". The sensor is written in file "sensor.cpp", while the hub is written in file "hub.cpp".

The format of the data transmitted for the 2 topics is written in a separate package "format_data". The format of the data for the registration_status_topic is in "Registration.msg" file, while the format of the data for the health_data_topic is in "Data.msg" file.

Execution

Step 1: Build the respective packages

In the root of your workspace (eg ~/ros2_ws), run the following command:

colcon build --packages-select format_data

Open a new terminal (also at the root of your workspace (eg ~/ros2_ws)), run the following commands:

source install/setup.bash

colcon build --packages-select system

Step 2: Run the hub node

Open a new terminal (also at the root of your workspace (eg ~/ros2_ws)), run the following commands:

source install/setup.bash

ros2 run system hub

Step 3: Run the sensor node

Open a new terminal (also at the root of your workspace (eg ~/ros2_ws)), run the following commands:

source install/setup.bash

ros2 run system sensor