Work on doc

README.md

@@ -660,13 +660,71 @@ For an example of integration with aerostack2 see: https://gitlab.liu.se/lrs2/lr
 
 ## 2.7 Execution on remote agents Using MQTT Broker
 
-Work in progress.  USE the zenoh method for now...
+UNTESTED, WILL BE TESTED SOONISH.
 
-If using a mqtt broker for communication the following have also to be started:
+### Preparation and Communication
+
+Make sure that TST_REMOTE_TRANSPORT is set to the correct
+value. Correct value is "mqtt" or unset.
+
+The communication is dine using a bridge program talking with the
+broker.  The bridge program is currently not public, ask about access to it.
+
+An example of how to start this program for /op1 is:
+
+```bash
+ros2 launch lrs_json_api wara.launch.py ns:=/op1 have_camera:=false host:=brokerhost port:=brokerport {user:=mqtt password:=passwd supported_levels:=["sensor", "direct-execution", "tst execution"] available_tasks=["move-to", "move-path", "look-at-bearing", "go-home", "look-at-position", "observe-position", "search-area", "drop", "pick-up"] available_sensors:=["position", "heading", "course", "speed", "gimbal_body_yaw", "resources_info", "gimbal_angle", "connect_status", "unit_status", "camera_tags", "videoserver_url"] prefix3:=air prefix4:=real ome_ws:=wss://ome.waraps.org:3334/ reduced_rate:=true
+```
+
+This program needs to be started on all agents.
+
+
+### Starting ROS programs
+
+On one agent start:
+```bash
+ros2 launch lrs_exec exec.launch.py ns:=/op1
+```
+
+On one another agent start (have to be another computer for the zeno case):
 ```bash
+ros2 launch lrs_exec exec.launch.py ns:=/op2
+```
 
+On the /op1 agent execute:
+```bash
+ros2 run lrs_exec tst_command --ros-args -r __ns:=/op1 -p command:=remote-test
 ```
 
+If it works scrolling up a bit in the terminal for op1 you should see seomthing like:
+```bash
+[remote-15] EXEC FEEDBACK: {
+[remote-15]     "agent-uuid": "e30a9049-9082-41d7-9ee7-64fecda2ded3",
+[remote-15]     "com-uuid": "8b68a72e-155d-4ae4-afba-5228666001f5",
+[remote-15]     "status": "finished",
+[remote-15]     "task-uuid": "0268deb3-5054-4556-a6ae-e1fe88d3c96c"
+[remote-15] }
+[remote-15] [INFO] [1740384475.160797180] [op1.remote]: STATUS 2: running -> finished
+[remote-15] [INFO] [1740384475.260747074] [op1.remote]: Tick tick_finished: wait
+```
+
+### Starting ROS programs for Visualizing the TST
+
+To generate a TST image do:
+```bash
+ros2 launch lrs_exec tst_streamer.launch.py ns:=/op1 display_type:=exec name:=tst_streamer_exec
+```
+
+Which will give an image on: /op1/tststream_exec/image_raw/compressed
+
+To stream that to an ome server (eg: ome.dummy.org) do:
+
+```bash
+ros2 run lrs_util to_fifo --ros-args -p image:=/op1/tststream_exec/image_raw -p compressed:=true -p fifo:=/tmp/fifo_tst_op1 -p scale:=false -p notext:=true
+ffmpeg -f rawvideo -r 15 -vcodec rawvideo -pix_fmt bgr24 -s 1280x720 -i /tmp/fifo_tst_op1 -r 15 -c:v libx264 -b:v 5000k -bufsize 5000k -pix_fmt yuv420p -tune zerolatency -preset ultrafast -f flv rtmp://ome.dummy.org/app/op1_tst
+```
+
+
 ## 2.8 Execution on remote agents Using Zenoh
 
 ### Zeno Configuration (zenoh-bridge-ros2dds)