Difference between revisions of "Advantech Robotic Suite/Advantech ROS2 Data Format"
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| − | + | = Introduction = | |
| − | The message definition of | + | The message definition of ROS2 node are located in include/adv_msgs folder, message file (.msg) is defined for node data publish/subscribe and action file (.action) is defined for setting sensor data. |
| | ||
| − | + | = Message definition = | |
'''AdvSensor.msg''' | '''AdvSensor.msg''' | ||
| Line 12: | Line 12: | ||
The file AdvSensor.msg is a message definition that holds a detail hardware sensor data that Advantech device/board provided. | The file AdvSensor.msg is a message definition that holds a detail hardware sensor data that Advantech device/board provided. | ||
| − | | + | |
| + | <pre># This is a message that holds a detail hardware sensor data that Advantech device/board provided. | ||
| + | # | ||
| + | string sensor # Sensor name | ||
| + | string type # Sensor type: "v", "bv" or "sv" | ||
| + | bool bv # Boolean type of sensor value | ||
| + | float64 v # Number type of sensor value | ||
| + | string sv # String type of sensor value | ||
| + | uint64 ts # Timestamp od sensor value | ||
| + | </pre> | ||
| | ||
| − | + | = Action definition = | |
'''AdvSensorSet.action''' | '''AdvSensorSet.action''' | ||
| Line 24: | Line 33: | ||
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| − | {| border="1" cellpadding="1" cellspacing="1" width="887" | + | {| border="1" cellpadding="1" cellspacing="1" width="887" |
| + | |- | ||
| + | | style="width: 47px; text-align: center" | '''<span style="font-size:larger">Action Type</span>''' | ||
| + | | style="width: 63px; text-align: center" | '''<span style="font-size:larger">Action name</span>''' | ||
| + | | style="width: 85px; text-align: center" | '''<span style="font-size:larger">Action File</span>''' | ||
| + | |- | ||
| + | | style="width: 47px; text-align: center" | <span style="font-size:larger">adv_msgs/action/AdvSensorSet</span> | ||
| + | | style="width: 63px; text-align: center" | <span style="font-size:larger">adv_sensor_set</span> | ||
| + | | style="width: 85px; text-align: center" | <span style="font-size:larger">AdvSensorSet.action</span> | ||
| + | |} | ||
| − | | + | |
| + | <pre># This is a request/response/feedback that holds a detail hardware sensor data that Advantech device/board provided. | ||
| + | # | ||
| + | string cmd # Request command of set sensor value | ||
| + | string sensor # Sensor name of set request | ||
| + | string type # Sensor type: "v", "bv" or "sv" | ||
| + | bool bv # Boolean type of sensor value | ||
| + | float64 v # Number type of sensor value | ||
| + | string sv # String type of sensor value | ||
| + | --- | ||
| + | int16 code # Result code, request accept: 100, unaccept: code > 100 | ||
| + | --- | ||
| + | int16 status # Status feedback of set sensor request | ||
| + | string sensor # Sensor name feedback of set request | ||
| + | string info # Information feedback of set request | ||
| + | uint64 ts # Timestamp of sensor value | ||
| + | </pre> | ||
| | ||
| − | + | = Setup Message = | |
This section will introduct you how to setup node in your environmant. | This section will introduct you how to setup node in your environmant. | ||
| − | 1. | + | 1. Setup ROS2 environmant variables: |
| + | <pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash | ||
| + | </pre> | ||
| | ||
| − | 2. | + | 2. Setup ROS2 message definition: |
| + | <pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash | ||
| + | </pre> | ||
| | ||
| − | |||
| − | |||
Latest revision as of 03:24, 5 March 2024
Introduction
The message definition of ROS2 node are located in include/adv_msgs folder, message file (.msg) is defined for node data publish/subscribe and action file (.action) is defined for setting sensor data.
Message definition
AdvSensor.msg
The file AdvSensor.msg is a message definition that holds a detail hardware sensor data that Advantech device/board provided.
# This is a message that holds a detail hardware sensor data that Advantech device/board provided. # string sensor # Sensor name string type # Sensor type: "v", "bv" or "sv" bool bv # Boolean type of sensor value float64 v # Number type of sensor value string sv # String type of sensor value uint64 ts # Timestamp od sensor value
Action definition
AdvSensorSet.action
The file AdvSensorSet.action' is a request/response/feedback that holds a detail hardware sensor data that Advantech device/board provided.
| Action Type | Action name | Action File |
| adv_msgs/action/AdvSensorSet | adv_sensor_set | AdvSensorSet.action |
# This is a request/response/feedback that holds a detail hardware sensor data that Advantech device/board provided. # string cmd # Request command of set sensor value string sensor # Sensor name of set request string type # Sensor type: "v", "bv" or "sv" bool bv # Boolean type of sensor value float64 v # Number type of sensor value string sv # String type of sensor value --- int16 code # Result code, request accept: 100, unaccept: code > 100 --- int16 status # Status feedback of set sensor request string sensor # Sensor name feedback of set request string info # Information feedback of set request uint64 ts # Timestamp of sensor value
Setup Message
This section will introduct you how to setup node in your environmant.
1. Setup ROS2 environmant variables:
$ source /opt/ros/${ROS_DISTRO}/setup.bash
2. Setup ROS2 message definition:
$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash