Advantech Robotic Suite/Advantech ROS2 Data Format
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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