Advantech ROS2 Data Format
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
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
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.
- Setup ROS2 environmant variables:
$ source /opt/ros/${ROS_DISTRO}/setup.bash
- Setup ROS2 message definition:
$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash