Difference between revisions of "Advantech Robotic Suite/Advantech ROS2 Data Format"

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= Introduction =
 
= Introduction =
  
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The message definition of Advantech ROS 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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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 =
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= 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.
  
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1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:
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1. Setup ROS2 environmant variables:
 
<pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash
 
<pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash
 
</pre>
 
</pre>
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&nbsp;
 
&nbsp;
  
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2. Setup Advantech ROS2 message definition:
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2. Setup ROS2 message definition:
 
<pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash
 
<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

 

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