Proxy CoT messages (XML strings) between ROS and a TAK environment
Install pytak v5 using one of the installation methods. This requires Python 3.6 or greater.
See the example launch file. Just needs a url for the TAK endpoint. If using a TLS transport, some environment variables need to be set. See pytak's readme for more information.
tak_tx: transmits CoT xml strings on this topic to TAKtak_rx: receives CoT xml strings from TAK and publishes on this topic
There is a built-in listener for /fix, so CoT status messages automatically
get sent to TAK.
For other CoT messages you'd like to send, just publish the xml string to tak_tx.
For receiving messages, subscribe to tak_rx and process the CoT xml string as desired.
You will likely want to do these outside of this repo, as much of the handling will be
autonomy stack dependent and not generically applicable to all consumers of the rostak nodes.
TLS connections require a certficate and private key.
Secrets should not be included in source control.
The example.launch file provides a recommendation for
settings paths in a tak_params file. (Paths loaded by
rosparam don't get macros resolved, so if wanting to
use ..._CERT="$(find some_pkg)/config/client.pem",
you'll need to pass them into launch file as individual
args.)
Based on the great work of pytak.