Difference between revisions of "Advantech Robotic Suite/Advantech ROS2 Data Format"
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= Introduction = | = 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. |
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| − | = Setup = | + | = 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/ | + | <pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash |
</pre> | </pre> | ||
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| − | 2. | + | 2. Setup ROS2 message definition: |
| − | <pre>$ source /usr/local/Advantech/ros/ | + | <pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash |
</pre> | </pre> | ||
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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