osiris-agent 0.1.0__tar.gz

osiris_agent-0.1.0/LICENSE

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osiris_agent-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: osiris_agent
+Version: 0.1.0
+Summary: OSIRIS agent for ROS2/Humble
+Home-page: https://github.com/nicolaselielll/osiris_agent
+Author: Nicolas Tuomaala
+Author-email: nicolas.tuomaala00@gmail.com
+License: Apache-2.0
+Keywords: ros2 humble agent
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Operating System :: OS Independent
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: websockets
+Requires-Dist: psutil
+Provides-Extra: ros
+Requires-Dist: rclpy; extra == "ros"
+Dynamic: author
+Dynamic: author-email
+Dynamic: classifier
+Dynamic: description
+Dynamic: description-content-type
+Dynamic: home-page
+Dynamic: keywords
+Dynamic: license
+Dynamic: license-file
+Dynamic: provides-extra
+Dynamic: requires-dist
+Dynamic: summary
+
+# OSIRIS Agent
+
+A ROS2 Humble node that bridges your robot to the OSIRIS remote monitoring platform via WebSocket.
+
+## Overview
+
+The OSIRIS Agent (`osiris_agent`) is a ROS2 node that provides real-time bidirectional communication between your ROS2 robot and a remote WebSocket gateway. It monitors the ROS2 graph, collects system telemetry, and enables dynamic topic subscription from the remote platform.
+
+## Features
+
+### Real-time Graph Monitoring
+- **Node Detection**: Automatically detects when ROS2 nodes start/stop
+- **Topic Tracking**: Monitors topic creation, destruction, and subscription changes
+- **Action Discovery**: Tracks ROS2 actions and their lifecycle
+- **Service Discovery**: Detects available services and their endpoints
+- **Publisher/Subscriber Relations**: Maps which nodes publish to and subscribe from each topic
+
+### Dynamic Topic Subscription
+- Subscribe to any ROS2 topic remotely via WebSocket commands
+- Automatic message type resolution and serialization
+- Configurable subscription limits (default: 100 concurrent subscriptions)
+- Thread-safe subscription management
+- Topic publishing rate calculation
+
+### Node Parameters
+- Automatic discovery of node parameters
+- Periodic parameter refresh (every 5 seconds)
+- Asynchronous parameter fetching to avoid blocking
+
+### System Telemetry
+- CPU usage monitoring
+- Memory (RAM) utilization tracking
+- Disk space monitoring
+- Enable/disable telemetry on demand
+
+### Quality of Service (QoS) Support
+- Full QoS profile inspection for publishers and subscribers
+- Reliability, durability, history policy, depth, and liveliness information
+
+### Robust Connection Management
+- Automatic reconnection with exponential backoff
+- Initial delay: 1 second, max delay: 10 seconds
+- Secure WebSocket (WSS) connection
+- Token-based authentication
+
+## Architecture
+
+```
+WebBridge Node (osiris_agent)
+│
+├─ Main Thread (rclpy.spin)
+│  ├─ ROS2 Node Callbacks
+│  ├─ Graph Change Detector (timer: 100ms)
+│  ├─ Parameter Refresh (timer: 5s)
+│  └─ Telemetry Collector (timer: 1s)
+│
+└─ Daemon Thread (WebSocket Client)
+   └─ Asyncio Event Loop
+      ├─ Send Loop (queue consumer)
+      ├─ Receive Loop (command handler)
+      └─ Reconnection Logic (exponential backoff)
+```
+
+**Key Components:**
+- **Graph Monitor**: Polls ROS2 graph for changes (nodes, topics, actions, services)
+- **Subscription Manager**: Handles dynamic topic subscriptions with `threading.Lock()` for thread-safe access to the subscription dictionary
+- **Telemetry Collector**: Gathers CPU, RAM, and disk metrics using `psutil`
+- **WebSocket Client**: Maintains persistent connection with automatic reconnection
+- **Message Queue**: `asyncio.Queue` created on the websocket event loop for serializing all outgoing messages
+
+**Threading Model:**
+- Main thread runs ROS2 executor (`rclpy.spin`) with timers and callbacks
+- Daemon thread runs asyncio event loop with websocket client (send/receive coroutines)
+- Shared data (`_topic_subs`) protected by `threading.Lock` to prevent race conditions
+- Cross-thread communication via `asyncio.run_coroutine_threadsafe()` to schedule coroutines from ROS thread onto websocket loop
+
+## Installation
+
+```bash
+# Clone the repository into your workspace
+cd ~/ros2_ws/src
+git clone https://github.com/nicolaselielll/osiris_agent.git
+
+# Install the package
+cd osiris_agent
+pip3 install -e .
+```
+
+The `-e` flag installs in editable mode so changes to the code are reflected immediately.
+
+## Configuration
+
+Set your authentication token as an environment variable:
+
+```bash
+export OSIRIS_AUTH_TOKEN="your-robot-token-here"
+```
+
+**Tip**: Add to `~/.bashrc` to persist across sessions:
+```bash
+echo 'export OSIRIS_AUTH_TOKEN="your-token"' >> ~/.bashrc
+```
+
+### Optional: Customize Behavior
+
+Edit constants in `osiris_agent/agent_node.py`:
+
+- `MAX_SUBSCRIPTIONS = 100`: Maximum concurrent topic subscriptions
+- `ALLOWED_TOPIC_PREFIXES = ['/']`: Restrict subscribable topics (e.g., `['/robot/', '/sensors/']`)
+- `GRAPH_CHECK_INTERVAL = 0.1`: Graph polling interval (seconds)
+- `PARAMETER_REFRESH_INTERVAL = 5.0`: Parameter refresh interval (seconds)
+- `TELEMETRY_INTERVAL = 1.0`: Telemetry collection interval (seconds)
+
+## Running
+
+```bash
+export OSIRIS_AUTH_TOKEN="your-token"
+agent_node
+```
+
+You should see:
+```
+[INFO] [bridge_node]: Attempting to connect to gateway...
+[INFO] [bridge_node]: Connected to gateway
+[INFO] [bridge_node]: Sent initial state: 5 nodes, 12 topics, 0 actions, 8 services
+```
+
+## Updating
+
+```bash
+cd ~/ros2_ws/src/osiris_agent
+git pull
+# Changes apply immediately if installed with -e
+```
+
+## WebSocket Protocol
+
+### Commands (Gateway → Agent)
+
+**Subscribe to Topic**
+```json
+{"type": "subscribe", "topic": "/cmd_vel"}
+```
+
+**Unsubscribe**
+```json
+{"type": "unsubscribe", "topic": "/cmd_vel"}
+```
+
+**Control Telemetry**
+```json
+{"type": "start_telemetry"}
+{"type": "stop_telemetry"}
+```
+
+### Events (Agent → Gateway)
+
+**Initial State** (on connect)
+```json
+{
+  "type": "initial_state",
+  "timestamp": 1234567890.123,
+  "data": {
+    "nodes": {},
+    "topics": {},
+    "actions": {},
+    "services": {},
+    "telemetry": {}
+  }
+}
+```
+
+**Graph Changes**
+```json
+{"type": "node_event", "node": "/my_node", "event": "started", "timestamp": 123}
+{"type": "topic_event", "topic": "/my_topic", "event": "created", "timestamp": 123}
+{"type": "action_event", "action": "/my_action", "event": "created", "timestamp": 123}
+{"type": "service_event", "service": "/my_service", "event": "created", "timestamp": 123}
+```
+
+**Topic Data**
+```json
+{
+  "type": "topic_data",
+  "topic": "/cmd_vel",
+  "data": {"linear": {"x": 1.0}, "angular": {"z": 0.5}},
+  "rate_hz": 10.0,
+  "timestamp": 123
+}
+```
+
+**Telemetry**
+```json
+{
+  "type": "telemetry",
+  "data": {
+    "cpu": 45.2,
+    "ram": {"percent": 62.5, "used_mb": 5000, "total_mb": 8000},
+    "disk": {"percent": 75.0, "used_gb": 150, "total_gb": 200}
+  },
+  "timestamp": 123
+}
+```
+
+**Bridge Subscriptions**
+```json
+{
+  "type": "bridge_subscriptions",
+  "subscriptions": ["/topic1", "/topic2"],
+  "timestamp": 123
+}
+```
+
+## Troubleshooting
+
+**ModuleNotFoundError: websockets or psutil**
+```bash
+pip3 install -e .
+```
+
+**Connection drops**
+- Check firewall allows outbound HTTPS to `osiris-gateway.fly.dev:443`
+- View logs: `journalctl -u osiris-agent -f`
+
+**High CPU usage**
+- Increase `GRAPH_CHECK_INTERVAL` to `0.5` or `1.0`
+- Reduce `PARAMETER_REFRESH_INTERVAL` to `10.0`
+- Disable telemetry when not needed
+
+**Topics not appearing**
+- Verify topic exists: `ros2 topic list`
+- Check logs for validation warnings
+- Ensure under `MAX_SUBSCRIPTIONS` limit
+
+## Performance Tuning
+
+**Large graphs (100+ nodes/topics)**
+```python
+GRAPH_CHECK_INTERVAL = 0.5
+PARAMETER_REFRESH_INTERVAL = 10.0
+MAX_SUBSCRIPTIONS = 50
+```
+
+**Resource-constrained robots**
+```python
+GRAPH_CHECK_INTERVAL = 1.0
+PARAMETER_REFRESH_INTERVAL = 15.0
+TELEMETRY_INTERVAL = 2.0
+```
+
+**Restrict topic access**
+```python
+ALLOWED_TOPIC_PREFIXES = ['/robot/', '/sensors/']
+```
+
+## Security
+
+- Auth token sent via WSS (encrypted in transit)
+- **Never log `self.ws_url`** - it contains the authentication token in the query parameter
+- Set `ALLOWED_TOPIC_PREFIXES` to restrict which topics can be remotely subscribed
+- `MAX_SUBSCRIPTIONS` prevents resource exhaustion from excessive subscriptions
+- Ensure gateway scrubs tokens from access logs
+
+## License
+
+This project is licensed under the Apache License 2.0 - see the [LICENSE](LICENSE) file for details.
+
+## Contributing
+
+Issues and PRs welcome at [github.com/nicolaselielll/osiris_agent](https://github.com/nicolaselielll/osiris_agent)
+
+## Changelog
+
+### v0.1.0
+- WebSocket bridge with secure WSS connection
+- Real-time graph monitoring
+- Dynamic topic subscription
+- System telemetry (CPU/RAM/disk)
+- Auto-reconnect with exponential backoff
+- Parameter discovery
+- QoS profile inspection