Difference between revisions of "Advantech Robotic Suite/Advantech ROS2 Data Format"
From ESS-WIKI
Eric.liang (talk | contribs) |
|||
| Line 33: | Line 33: | ||
| | ||
| − | {| | + | {| border="1" cellpadding="1" cellspacing="1" width="887" |
|- | |- | ||
| − | | style="width: 47px; | + | | style="width: 47px; text-align: center" | '''<span style="font-size:larger">Action Type</span>''' |
| − | | style="width: 63px; | + | | style="width: 63px; text-align: center" | '''<span style="font-size:larger">Action name</span>''' |
| − | | style="width: 85px; | + | | style="width: 85px; text-align: center" | '''<span style="font-size:larger">Action File</span>''' |
|- | |- | ||
| − | | style="width: 47px; | + | | style="width: 47px; text-align: center" | <span style="font-size:larger">adv_msgs/action/AdvSensorSet</span> |
| − | | style="width: 63px; | + | | style="width: 63px; text-align: center" | <span style="font-size:larger">adv_sensor_set</span> |
| − | | style="width: 85px; | + | | 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. | |
| − | <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 cmd # Request command of set sensor value | ||
| Line 66: | Line 64: | ||
| | ||
| − | == Setup | + | == Setup == |
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. Sourcing ROS2 foxy environmant setup file: | 1. Sourcing ROS2 foxy environmant setup file: | ||
| − | <pre> | + | <pre>$ source /opt/ros/foxy/setup.bash |
| − | $ source /opt/ros/foxy/setup.bash | ||
</pre> | </pre> | ||
| − | + | ||
| + | | ||
2. Sourcing node setup file: | 2. Sourcing node setup file: | ||
| − | <pre> | + | <pre>$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash |
| − | $ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash | ||
</pre> | </pre> | ||
| − | + | ||
| + | | ||
[[Category:Editor]] | [[Category:Editor]] | ||
Revision as of 09:06, 6 April 2023
Introduction
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.
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
This section will introduct you how to setup node in your environmant.
1. Sourcing ROS2 foxy environmant setup file:
$ source /opt/ros/foxy/setup.bash
2. Sourcing node setup file:
$ source /usr/local/Advantech/ros/foxy/include/edge-converter-ros2/adv_msgs/install/local_setup.bash