The gate service allows to translate JSON to Luos and Luos to JSON constantly. This service continuously pulls data from the sensors detected on the network and streams it into a JSON format. Also, it can receive JSON data and convert it into a service command.
You need to have at least one of these services in one of your nodes to use the Luos network with a computer using Pyluos or any other lib.
JSON is a really mainstream standard allowing you to use your favorite language easily through a JSON library.
Its type has access to all common capabilities.
|Function name and parameters||Action||Comment|
|control(self)||Displays service type graphical interface||Only available using Jupyter notebook|
|delay||Sets or reads the network refresh delay in ms.||read / write: Integer|
The gate has no topic but all topics names of all services are prefixed with the name given to the broker associated to this gate at runtime.
luos_broker but can be changed by passing an argument to the launchfile, e.g.:
ros2 launch luos_interface broker.launch.py name:=luos_broker_2. This name must be unique to prevent conflicts.