sense_bridge

sense_bridge is a ROS 2 (Humble) package that provides utility functions to convert between NumPy arrays and custom EEGBlock messages defined in sense_msgs. It enables the structured EEG data collected to be flattened and transmitted as ROS messages.

• Convert EEG data from NumPy arrays to EEGBlock messages and vice versa.
• Ensures compatibility with the sense_eeg publisher and downstream ROS 2 nodes.

Clone the sense-base/base and create the directory workspace/src. Clone sense_bridge package into the workspace/src:

mkdir sense-base && cd sense-base
git clone git@github.com:sense-base/base.git
cd base
mkdir workspace/src
# Clone this sense_bridge repo
git clone git@github.com:sense-base/sense_bridge.git
# Clone the sense_msgs package
git clone git@github.com:sense-base/sense_msgs.git

Open the sense-base/base folder in VS Code and Reopen in Container when prompted. In the .devcontainer, build the workspace:

colcon build --packages-select eeg_msgs eeg_bridge
source install/setup.bash

Once sourced, you can use the bridge in Python (or in other related packages):

python 3

from eeg_bridge.bridge import EEGBridge

To run the test locally:

cd sense-base/base/workspace/src/sense_bridge
uv pip install ."[dev]"
uv run pytest eeg_bridge/test