This repository contains the public API for the NEPI ROS Interface. All NEPI-custom message and service definitions that are exposed to external applications are contained in this repo, along with ROS support files (e.g., rviz-config files).
This repository is included as a submodule of nepi_engine_ws and is built for NEPI devices using the build instructions contained in that project's top-level README.
This repository may also be built specifically to interface ROS-enabled non-NEPI devices with a NEPI device by way of the NEPI ROS API. In that case, include this repository in the src subdirectory of any catkin workspace and use standard catkin or catkin-tools build directives. Sourcing the resulting setup.bash file will import the NEPI ROS API (message and service definitions) to the current environment to satisfy your application's build-time and/or run-time dependencies. In this case, ensure that you are building the proper release-point/tag of the repo consistent with the NEPI version that the device you are interfacing to is running. (See Branching and Tagging Strategy below)
The NEPI Engine Local System Interface API provides complete API documentation.
This repository follows a simplified branch strategy with tags applied to coincide with NEPI Engine release points. When building this package to interface to an existing NEPI system, you should check out the tag that corresponds to the release tag for that NEPI system.
Bug reports, feature requests, and source code contributions (in the form of pull requests) are gladly accepted!
At present, all user contributions and requests are vetted by Numurus technical staff, so you can use any convenient mechanism to contact us.