Revision as of 08:46, 30 January 2023

Brief

The OPC Unified Architecture (UA), released in 2008, is a platform independent service-oriented architecture that integrates all the functionality of the individual OPC Classic specifications into one extensible framework.

OPCUA Node is a ROS node for user to subscribe sensor form OPCUA server, user can use OPCUA data in the user's subscriber program and do the post procedure, for example parse/store/analysis etc.

Topic definition

The topic of OPCUA node data are defined as below:

/adv/opcuaclient

Message definition

The messages definition of SUSI node is defined in below link:

http://ess-wiki.advantech.com.tw/view/ROS2_Suite_Advantech_ROS2_Data_Format

Configuration

To config OPCUA node settings, please refer the guide: http://ess-wiki.advantech.com.tw/view/OPC-UA_Client

Sample Client

This session describe how to subscribe OPCUA node data by node's topic.

Node.js

The program rclnodejs_edge_data_client is a node.js example for user to learning how to use rclnodejs client to subscribe OPCUA node's data. Please follow below steps to run the program, when the program launched, it will subscribe OPCUA node's sensor data and print the data in the console screen.

Steps - Subscribe Sensor

Step1. Setup ROS2 foxy environmant variables:

$ source /opt/ros/foxy/setup.bash

Step2. Setup Advantech ROS Message:

$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash

Step3. Go to node.js OPCUA sample path:

$ cd /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/rclnodejs_edge_data_client/

Step4. Run node.js OPCUA sample:

$  node example_SubscribeSensor.js "rclnodejs_OPCUAClient_subscriber" "/adv/opcuaclient"

Step5. Verify received data:

You have entered arguments:
node name: rclnodejs_OPCUAClient_subscriber
message topic: /adv/opcuaclient
----------------------------------------------
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98247999955607
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.396799999928998
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98223999955607
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.372799999928997
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98199999955607
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.348799999928996
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.981759999556076
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.324799999928995
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98151999955608
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.300799999928994
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98127999955608
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.276799999928993
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98103999955608
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.252799999928992

Steps - Set sensor

This session describe how to set OPCUA data by set action. To run the set sensor sample, your device need have writable sensor supported for OPCUA driver.

Step1. Setup ROS2 foxy environmant variables:

$ source /opt/ros/foxy/setup.bash

Step2. Setup Advantech ROS Message:

$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash

Step3. Go to node.js OPCUA sample path:

$ cd /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/rclnodejs_edge_data_client/

Step4. Run OPCUA node set sensor sample:

Command:

node example_SetSensor.js [node name] [action] [sensor] [type] [value]

Example:

$ node example_SetSensor.js "rclnodejs_OPCUAClient_setter" "adv_opcuaclient_set" "OPCUAClient/OPCUA-01/Node/Temperature-SetPoint" "v" 26

Step5. Received data:

[INFO] [1671432195.232498528] [adv.rclnodejs_OPCUAClient_setter]: Waiting for action server...
[INFO] [1671432195.890056725] [adv.rclnodejs_OPCUAClient_setter]: Sending goal request...
[INFO] [1671432196.076197797] [adv.rclnodejs_OPCUAClient_setter]: Goal accepted
[INFO] [1671432196.310811395] [adv.rclnodejs_OPCUAClient_setter]: Received feedback: status = {"status":200,"sensor":"OPCUAClient/OPCUA-01/Node/Temperature-SetPoint","info":"Success","ts":1671432196198}
[INFO] [1671432196.331143326] [adv.rclnodejs_OPCUAClient_setter]: Goal suceeded with result: 202

Python

The program rclpy_edge_data_client is a Python client example for user to understand how to use rclpy to subscribe OPCUA node's data. Please follow below steps to run the program, when the program launched, it will subscribe OPCUA node's sensor and print the data in the console screen.

Steps - Subscribe Sensor

Step1. Setup ROS2 foxy environmant variables:

$ source /opt/ros/foxy/setup.bash

Step2. Setup Advantech ROS Message:

$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash

Step3. Setup OPCUA sample variables:

$ source /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/install/local_setup.bash

Step4. Run Python OPCUA sample:

$ ros2 run rclpy_edge_data_client listener "rclpy_OPCUAClient_subscriber" "/adv/opcuaclient"

Step5. Verify received data:

You have entered arguments:
node name: rclpy_OPCUAClient_subscriber
message topic: /adv/opcuaclient
----------------------------------------------
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98247999955607
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.396799999928998
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98223999955607
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.372799999928997
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98199999955607
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.348799999928996
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.981759999556076
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.324799999928995
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98151999955608
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.300799999928994
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98127999955608
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.276799999928993
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98103999955608
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.252799999928992

C++

The program rclcpp_edge_data_client is a C++ example for user to understand how to use rclcpp to subscribe OPCUA node's data. Please follow below steps to run the program, when the program launched, it will subscribe OPCUA node's sensor and print the data in the console screen.

Steps - Subscribe Sensor

Step1. Setup ROS2 foxy environmant variables:

$ source /opt/ros/foxy/setup.bash

Step2. Setup Advantech ROS Message:

$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash

Step3. Setup OPCUA node variables:

$ source /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/install/local_setup.bash

Step4. Run Python OPCUA sample client:

$ ros2 run rclcpp_edge_data_client listener "rclcpp_OPCUAClient_subscriber" "/adv/opucaclient"

Step5. Verify received data:

You have entered arguments:
node name: rclcpp_OPCUAClient_subscriber
message topic: /adv/opcuaclient
----------------------------------------------
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98247999955607
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.396799999928998
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98223999955607
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.372799999928997
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98199999955607
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.348799999928996
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.981759999556076
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.324799999928995
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98151999955608
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.300799999928994
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98127999955608
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.276799999928993
Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98103999955608
Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.252799999928992

@@ Line 1: / Line 1: @@
+= Brief =
-<br/> = Brief =
 The OPC Unified Architecture (UA), released in 2008, is a platform independent service-oriented architecture that integrates all the functionality of the individual OPC Classic specifications into one extensible framework.
@@ Line 6: / Line 5: @@
 OPCUA Node is a ROS node for user to subscribe sensor form OPCUA server, user can use OPCUA data in the user's subscriber program and do the post procedure, for example parse/store/analysis etc.
-<br/> &nbsp;
+<br/><br/>
 = Topic definition =
-The topic of OPCUA node data are defined as below:<br/> <pre>/adv/opcuaclient</pre>
+The topic of OPCUA node data are defined as below:
+<pre>/adv/opcuaclient</pre>
-&nbsp;
+<br/>
 = Message definition =
@@ Line 18: / Line 18: @@
 The messages definition of SUSI node is defined in below link:
-[http://ess-wiki.advantech.com.tw/view/ROS2_Suite_Advantech_ROS2_Data_Format http://ess-wiki.advantech.com.tw/view/ROS2_Suite_Advantech_ROS2_Data_Format]
+http://ess-wiki.advantech.com.tw/view/ROS2_Suite_Advantech_ROS2_Data_Format
-&nbsp;
+<br/>
 = Configuration =
-To config OPCUA node settings, please refer the guide: [http://ess-wiki.advantech.com.tw/view/OPC-UA_Client http://ess-wiki.advantech.com.tw/view/OPC-UA_Client]
+To config OPCUA node settings, please refer the guide: http://ess-wiki.advantech.com.tw/view/OPC-UA_Client
-&nbsp;
+<br/>
 = Sample Client =
 This session describe how to subscribe OPCUA node data by node's topic.
+<br/>
 == Node.js ==
@@ Line 36: / Line 37: @@
 The program rclnodejs_edge_data_client is a node.js example for user to learning how to use rclnodejs client to subscribe OPCUA node's data. Please follow below steps to run the program, when the program launched, it will subscribe OPCUA node's sensor data and print the data in the console screen.
-&nbsp;
+<br/>
 '''Steps - Subscribe Sensor'''
-Step1. Setup ROS2 foxy environmant variables:<br/> <pre>$ source /opt/ros/foxy/setup.bash</pre>
+Step1. Setup ROS2 foxy environmant variables:
+<pre>$ source /opt/ros/foxy/setup.bash</pre>
-Step2. Setup Advantech ROS Message:<br/> <pre>$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre>
+Step2. Setup Advantech ROS Message:
+<pre>$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre>
-Step3. Go to node.js OPCUA sample path:<br/> <pre>$ cd /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/rclnodejs_edge_data_client/</pre>
+Step3. Go to node.js OPCUA sample path:
+<pre>$ cd /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/rclnodejs_edge_data_client/</pre>
-Step4. Run node.js OPCUA sample:<br/> <pre>$ &nbsp;node example_SubscribeSensor.js "rclnodejs_OPCUAClient_subscriber" "/adv/opcuaclient"</pre>
+Step4. Run node.js OPCUA sample:
+<pre>$  node example_SubscribeSensor.js "rclnodejs_OPCUAClient_subscriber" "/adv/opcuaclient"</pre>
-Step5. Verify received data:<br/> <pre>You have entered arguments:<br/> node name: rclnodejs_OPCUAClient_subscriber<br/> message topic: /adv/opcuaclient<br/> ----------------------------------------------<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98247999955607<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.396799999928998<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98223999955607<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.372799999928997<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98199999955607<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.348799999928996<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.981759999556076<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.324799999928995<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98151999955608<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.300799999928994<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98127999955608<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.276799999928993<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98103999955608<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.252799999928992<br/> </pre>
+Step5. Verify received data:
+<pre>
+You have entered arguments:
+node name: rclnodejs_OPCUAClient_subscriber
+message topic: /adv/opcuaclient
+----------------------------------------------
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98247999955607
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.396799999928998
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98223999955607
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.372799999928997
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98199999955607
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.348799999928996
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.981759999556076
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.324799999928995
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98151999955608
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.300799999928994
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98127999955608
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.276799999928993
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98103999955608
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.252799999928992
+</pre>
-<br/> &nbsp;
+<br/><br/>
 '''Steps - Set sensor'''
 This session describe how to set OPCUA data by set action. To run the set sensor sample, your device need have writable sensor supported for OPCUA driver.
-Step1. Setup ROS2 foxy environmant variables:<br/> <pre>$ source /opt/ros/foxy/setup.bash</pre>
+Step1. Setup ROS2 foxy environmant variables:
+<pre>$ source /opt/ros/foxy/setup.bash</pre>
-Step2. Setup Advantech ROS Message:<br/> <pre>$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre>
+Step2. Setup Advantech ROS Message:
+<pre>$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre>
-Step3. Go to node.js OPCUA sample path:<br/> <pre>$ cd /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/rclnodejs_edge_data_client/</pre>
+Step3. Go to node.js OPCUA sample path:
+<pre>$ cd /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/rclnodejs_edge_data_client/</pre>
 Step4. Run OPCUA node set sensor sample:
-Command:<br/> <pre>node example_SetSensor.js [node name] [action] [sensor] [type] [value]</pre>
+Command:
+<pre>node example_SetSensor.js [node name] [action] [sensor] [type] [value]</pre>
-Example:<br/> <pre>$ node example_SetSensor.js "rclnodejs_OPCUAClient_setter" "adv_opcuaclient_set" "OPCUAClient/OPCUA-01/Node/Temperature-SetPoint" "v" 26</pre>
+Example:
+<pre>$ node example_SetSensor.js "rclnodejs_OPCUAClient_setter" "adv_opcuaclient_set" "OPCUAClient/OPCUA-01/Node/Temperature-SetPoint" "v" 26</pre>
-Step5. Received data:<br/> <pre>[INFO] [1671432195.232498528] [adv.rclnodejs_OPCUAClient_setter]: Waiting for action server...<br/> [INFO] [1671432195.890056725] [adv.rclnodejs_OPCUAClient_setter]: Sending goal request...<br/> [INFO] [1671432196.076197797] [adv.rclnodejs_OPCUAClient_setter]: Goal accepted<br/> [INFO] [1671432196.310811395] [adv.rclnodejs_OPCUAClient_setter]: Received feedback: status = {"status":200,"sensor":"OPCUAClient/OPCUA-01/Node/Temperature-SetPoint","info":"Success","ts":1671432196198}<br/> [INFO] [1671432196.331143326] [adv.rclnodejs_OPCUAClient_setter]: Goal suceeded with result: 202
+Step5. Received data:
+<pre>
+[INFO] [1671432195.232498528] [adv.rclnodejs_OPCUAClient_setter]: Waiting for action server...
+[INFO] [1671432195.890056725] [adv.rclnodejs_OPCUAClient_setter]: Sending goal request...
+[INFO] [1671432196.076197797] [adv.rclnodejs_OPCUAClient_setter]: Goal accepted
+[INFO] [1671432196.310811395] [adv.rclnodejs_OPCUAClient_setter]: Received feedback: status = {"status":200,"sensor":"OPCUAClient/OPCUA-01/Node/Temperature-SetPoint","info":"Success","ts":1671432196198}
+[INFO] [1671432196.331143326] [adv.rclnodejs_OPCUAClient_setter]: Goal suceeded with result: 202
 </pre>
-<br/> &nbsp;
+<br/><br/>
 == Python ==
@@ Line 80: / Line 117: @@
 '''Steps - Subscribe Sensor'''
-Step1. Setup ROS2 foxy environmant variables:<br/> <pre>$ source /opt/ros/foxy/setup.bash</pre>
+Step1. Setup ROS2 foxy environmant variables:
+<pre>$ source /opt/ros/foxy/setup.bash</pre>
-Step2. Setup Advantech ROS Message:<br/> <pre>$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre>
+Step2. Setup Advantech ROS Message:
+<pre>$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre>
-Step3. Setup OPCUA sample variables:<br/> <pre>$ source /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/install/local_setup.bash</pre>
+Step3. Setup OPCUA sample variables:
+<pre>$ source /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/install/local_setup.bash</pre>
-Step4. Run Python OPCUA sample:<br/> <pre>$ ros2 run rclpy_edge_data_client listener "rclpy_OPCUAClient_subscriber" "/adv/opcuaclient"</pre>
+Step4. Run Python OPCUA sample:
+<pre>$ ros2 run rclpy_edge_data_client listener "rclpy_OPCUAClient_subscriber" "/adv/opcuaclient"</pre>
-Step5. Verify received data:<br/> <pre>You have entered arguments:<br/> node name: rclpy_OPCUAClient_subscriber<br/> message topic: /adv/opcuaclient<br/> ----------------------------------------------<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98247999955607<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.396799999928998<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98223999955607<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.372799999928997<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98199999955607<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.348799999928996<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.981759999556076<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.324799999928995<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98151999955608<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.300799999928994<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98127999955608<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.276799999928993<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98103999955608<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.252799999928992
+Step5. Verify received data:
+<pre>
+You have entered arguments:
+node name: rclpy_OPCUAClient_subscriber
+message topic: /adv/opcuaclient
+----------------------------------------------
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98247999955607
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.396799999928998
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98223999955607
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.372799999928997
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98199999955607
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.348799999928996
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.981759999556076
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.324799999928995
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98151999955608
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.300799999928994
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98127999955608
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.276799999928993
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98103999955608
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.252799999928992
 </pre>
-<br/> &nbsp;
+<br/><br/>
 == C++ ==
@@ Line 100: / Line 160: @@
 '''Steps - Subscribe Sensor'''
-Step1. Setup ROS2 foxy environmant variables:<br/> <pre>$ source /opt/ros/foxy/setup.bash</pre>
+Step1. Setup ROS2 foxy environmant variables:
+<pre>$ source /opt/ros/foxy/setup.bash</pre>
-Step2. Setup Advantech ROS Message:<br/> <pre>$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre>
+Step2. Setup Advantech ROS Message:
+<pre>$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre>
-Step3. Setup OPCUA node variables:<br/> <pre>$ source /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/install/local_setup.bash</pre>
+Step3. Setup OPCUA node variables:
+<pre>$ source /usr/local/Advantech/ros/foxy/sample_code/edge-data-client/install/local_setup.bash</pre>
-Step4. Run Python OPCUA sample client:<br/> <pre>$ ros2 run rclcpp_edge_data_client listener "rclcpp_OPCUAClient_subscriber" "/adv/opucaclient"</pre>
+Step4. Run Python OPCUA sample client:
+<pre>$ ros2 run rclcpp_edge_data_client listener "rclcpp_OPCUAClient_subscriber" "/adv/opucaclient"</pre>
-Step5. Verify received data:<br/> <pre>You have entered arguments:<br/> node name: rclcpp_OPCUAClient_subscriber<br/> message topic: /adv/opcuaclient<br/> ----------------------------------------------<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98247999955607<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.396799999928998<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98223999955607<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.372799999928997<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98199999955607<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.348799999928996<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.981759999556076<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.324799999928995<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98151999955608<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.300799999928994<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98127999955608<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.276799999928993<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98103999955608<br/> Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.252799999928992
+Step5. Verify received data:
+<pre>
+You have entered arguments:
+node name: rclcpp_OPCUAClient_subscriber
+message topic: /adv/opcuaclient
+----------------------------------------------
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98247999955607
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.396799999928998
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98223999955607
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.372799999928997
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98199999955607
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.348799999928996
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.981759999556076
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.324799999928995
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98151999955608
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.300799999928994
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98127999955608
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.276799999928993
+Data: sensor = OPCUAClient/OPCUA-01/Node/Humidity, v = 59.98103999955608
+Data: sensor = OPCUAClient/OPCUA-01/Node/Temperature, v = 28.252799999928992
 </pre>
-[[Category:Editor]]<br/> &nbsp;
+[[Category:Editor]]

Difference between revisions of "Advantech Robotic Suite/OPCUAClient Node"

Revision as of 08:46, 30 January 2023

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