A central message router for the Target-X system, managing communication between distributed ROS2/DDS networks through ro2erl bridges.

ro2erl_hub is a central component in the Target-X system that facilitates message routing between distributed ROS2 networks. It works in conjunction with ro2erl_bridge components to enable secure and reliable communication between ROS2 nodes across different sites.

For detailed design information, see:

• Hub Design Documentation
• RO2ERL Documentation

• Erlang/OTP 27 or later
• rebar3

Start an interactive shell with debug logging and a specific node name:

rebar3 shell --sname hub --setcookie targetx

To start a local development shell with support for TLS distribution, you need first to generate a testing CA and certificate:

local/setup.sh

Then you can start the shell with:

ERL_FLAGS='-proto_dist inet_tls -ssl_dist_optfile local/ssl_dist_opts.rel -connect_all false' rebar3 as local shell --sname hub --setcookie targetx

The hub node will be started with the short name hub and the cookie targetx. This allows other nodes (like bridges) to connect to it during development, and it should support GRiSP board using its secure element.

For production deployment on grisp.io:

# Build the release with production dependencies
rebar3 as prod release

# Build the Docker image for deployment
rebar3 as prod docker

# Push the image to your registry
docker push local/ro2erl_hub:0.1.0 your-registry/ro2erl_hub:0.1.0

The production build includes the braidnode dependency which is required for deployment on grisp.io. This dependency is not included in the development environment to simplify local testing.

rebar3 ct

Copyright © 2025 Stritzinger GmbH

Licensed under the Apache License, Version 2.0. See LICENSE file for details.