Advantech Robotic Suite/Modbus-Master Node

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Brief

Modbus enables communication among many devices connected to the same network, for example, a system that measures temperature and humidity and communicates the results to a computer. Modbus is often used to connect a supervisory computer with a remote terminal unit (RTU) in supervisory control and data acquisition (SCADA) systems.

Many of the data types are named from its use in driving relays: a single-bit physical output is called a coil, and a single-bit physical input is called a discrete input or a contact.

Modbus-Master Node is a ROS node for user to subscribe sensor from client and report the data for post procedure.



Topic definition

The topic of Modbus-Master data are defined as below: 

/adv/modbusmaster


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 Modbus settings, please refer the guide: http://ess-wiki.advantech.com.tw/view/Modbus_Master#Configuration


Sample Client

This session describe how to subscribe Modbus-Master 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 Modbus-Master node's data. Please follow below steps to run the program, when the program launched, it will subscribe Modbus-Master 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 Modbus-Master node sample client path: 

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

Step4. Run node.js Modbus-Master client: 

$  node example_SubscribeSensor.js "rclnodejs_ModbusMaster_subscriber" "/adv/modbusmaster"

Step5. Verify received data: 

You have entered arguments:
node name: rclnodejs_ModbusMaster_subscriber
message topic: /adv/modbusmaster
----------------------------------------------
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Temperature", v = 21.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Door-Open", v = 1.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/FAN-Speed", v = 2814.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Humidity", v = 44.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Light-Switch", v = 0.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00



Steps - Set sensor

This session describe how to set Modbus data by set action. To run the set sensor sample, your device need have writable sensor supported for Modbus 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 Modbus-Master node sample client path: 

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

Step4. Run Modbus-Master node set sensor client:

Command: 

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

Example: 

$ node example_SetSensor.js "rclnodejs_ModbusMaster_setter" "adv_modbusmaster_set" "Modbus-Master/Device/Sensor-Device-1/Sensor/FAN-Speed" "v" 3000

Step5. Received data: 

[INFO] [1671431728.320213435] [adv.rclnodejs_ModbusMaster_setter]: Waiting for action server...
[INFO] [1671431729.034446428] [adv.rclnodejs_ModbusMaster_setter]: Sending goal request...
[INFO] [1671431729.384845693] [adv.rclnodejs_ModbusMaster_setter]: Goal accepted
[INFO] [1671431729.774134098] [adv.rclnodejs_ModbusMaster_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 Modbus-Master node's data. Please follow below steps to run the program, when the program launched, it will subscribe Modbus-Master 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 Modbus-Master client: 

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

Step4. Run Python Modbus-Master client: 

$ ros2 run rclpy_edge_data_client listener "rclpy_ModbusMaster_subscriber" "/adv/modbusmaster"

Step5. Verify received data: 

You have entered arguments:
node name: rclpy_ModbusMaster_subscriber
message topic: /adv/modbusmaster
----------------------------------------------
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Temperature", v = 21.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Door-Open", v = 1.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/FAN-Speed", v = 2814.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Humidity", v = 44.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Light-Switch", v = 0.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00



C++

The program rclcpp_susicontrol_client is a C++ example for user to understand how to use rclcpp to subscribe SUSI node's data. Please follow below steps to run the program, when the program launched, it will subscribe SUSI 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 Modbus-Master client: 

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

Step4. Run Python Modbus-Master client: 

$ ros2 run rclcpp_edge_data_client listener "rclcpp_ModbusMaster_subscriber" "/adv/modbusmaster"

Step5. Verify received data: 

You have entered arguments:
node name: rclcpp_ModbusMaster_subscriber
message topic: /adv/modbusmaster
----------------------------------------------
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Temperature", v = 21.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Door-Open", v = 1.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/FAN-Speed", v = 2814.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Humidity", v = 44.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
Data: sensor = "Modbus-Master/Device/Sensor-Device-1/Sensor/Light-Switch", v = 0.00
Data: sensor = "Modbus-Master/Link/Net1/Message", sv = "Link connected"
Data: sensor = "Modbus-Master/Link/Net1/Status", v = 1.00
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