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Overview

The DeepRacer Systems ROS package creates the software_update_node, model_loader_node, otg_control_node, network_monitor_node which are part of the core AWS DeepRacer application and will be launched from the deepracer_launcher. More details about the application and the components can be found here.

License

The source code is released under Apache 2.0.

Supported ROS Distributions

• Foxy

Node Details

software_update_node

Subscribed Topics

/usb_monitor_pkg/usb_file_system_notification (msg/USBFileSystemNotificationMsg)

• This message holds the file/folder details that is broadcasted, whenever a watched file is identified in the USB connected.

/deepracer_systems_pkg/network_connection_status (msg/NetworkConnectionStatus)

• This message with network connection status to indicate if the device is connected to the internet.

Published Topics

/deepracer_systems_pkg/software_update_pct (msg/SoftwareUpdatePctMsg)

• Publish a message with current software update percentage and status.

Services

software_update_check (srv/SoftwareUpdateCheckSrv)

• A service that is called to check if a software update is available for aws-deepracer-* packages.

begin_update (srv/BeginSoftwareUpdateSrv)

• A service that is called to execute the software update and install latest deepracer packages.

software_update_state (srv/SoftwareUpdateStateSrv)

• A service that is called to get the current software update state on the vehicle. Values include [ UPDATE_UNKNOWN, UP_TO_DATE, UPDATE_AVAILABLE, UPDATE_PENDING, UPDATE_IN_PROGRESS ].

Services Called

/status_led_pkg/led_blink (srv/SetStatusLedBlinkSrv)

• Client to the status LED blink service that is called to indicate progress of software update operation.

/status_led_pkg/led_solid (srv/SetStatusLedSolidSrv)

• Client to the status LED solid service that is called to indicate success/failure of software update operation.

/usb_monitor_pkg/usb_file_system_subscribe (srv/USBFileSystemSubscribeSrv)

• Client to USB File system subscription service to add "update" folder to watchlist and trigger notification if it finds it in the USB drive.

/usb_monitor_pkg/usb_mount_point_manager (srv/USBMountPointManagerSrv)

• Client to USB Mount point manager service to indicate that the usb_monitor_node can safely decrement the counter for the mount point once the action function for the "update" folder file being watched by software_update_node is succesfully executed.

model_loader_node

Published Topics

/usb_monitor_pkg/usb_file_system_notification (msg/USBFileSystemNotificationMsg)

• This message holds the file/folder details that is broadcasted, whenever a watched file is identified in the USB connected.

Services

verify_model_ready (srv/VerifyModelReadySrv)

• A service that is called when a new model is loaded to verify if the model was extracted successfully.

console_model_action (srv/ConsoleModelActionSrv)

• A service that is called with actions to upload/delete models from device console. It supports actions to extract and copy a tar.gz file with model that was uploaded from the console or delete a model that is present in the /opt/aws/deepracer/artifacts folder.

Services Called

/status_led_pkg/led_blink (srv/SetStatusLedBlinkSrv)

• Client to the status LED blink service that is called to indicate progress of load model operation

/status_led_pkg/led_solid (srv/SetStatusLedSolidSrv)

• Client to the status LED solid service that is called to indicate success/failure of load model operation.

/usb_monitor_pkg/usb_file_system_subscribe (srv/USBFileSystemSubscribeSrv)

• Client to USB File system subscription service to add "models" folder to watchlist and trigger notification if it finds it in the USB drive.

/usb_monitor_pkg/usb_mount_point_manager (srv/USBMountPointManagerSrv)

• Client to USB Mount point manager service to indicate that the usb_monitor_node can safely decrement the counter for the mount point once the action function for the "models" folder file being watched by model_loader_node is succesfully executed.

/model_optimizer_pkg/model_optimizer_server (srv/ModelOptimizeSrv)

• Client to model optimizer service that is called to optimize the models that is loaded from the USB and create the intermediate representation of the models.

otg_control_node

Services

get_otg_link_state (srv/OTGLinkStateSrv)

• A service that is called to return the flag if host is connected to the device via the micro-USB cable.

network_monitor_node

Subscribed Topics

/usb_monitor_pkg/usb_file_system_notification (msg/USBFileSystemNotificationMsg)

• This message holds the file/folder details that is broadcasted, whenever a watched file is identified in the USB connected.

Published Topics

/deepracer_systems_pkg/network_connection_status (msg/NetworkConnectionStatus)

• Publish a message with network connection status to indicate if the device is connected to the internet.

Services Called

/status_led_pkg/led_blink (srv/SetStatusLedBlinkSrv)

• Client to the status LED blink service that is called to indicate progress of WiFi connection operation.

/status_led_pkg/led_solid (srv/SetStatusLedSolidSrv)

• Client to the status LED solid service that is called to indicate success/failure of WiFi connection operation.

/usb_monitor_pkg/usb_file_system_subscribe (srv/USBFileSystemSubscribeSrv)

• Client to USB File system subscription service to add wifi-creds.txt file to watchlist and trigger notification if it finds it in the USB drive.

/usb_monitor_pkg/usb_mount_point_manager (srv/USBMountPointManagerSrv)

• Client to USB Mount point manager service to indicate that the usb_monitor_node can safely decrement the counter for the mount point once the action function for the for the WiFi configuration file being watched by network_monitor_node is succesfully executed.