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eeros_architecture:hal:config_ros

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eeros_architecture:hal:config_ros [2017/12/14 17:07] – grafeeros_architecture:hal:config_ros [2023/02/27 14:44] (current) – [Configuration File for ROS] ursgraf
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 As described in [[getting_started:ros#Using ROS through EEROS HAL|]] you can directly map EEROS signal onto ROS messages through the EEROS HAL. The wrapper library [[eeros_architecture:hal:hardware_libraries#ros|EEROS-ROS]] is used to connect the EEROS HAL with ROS topics. \\ As described in [[getting_started:ros#Using ROS through EEROS HAL|]] you can directly map EEROS signal onto ROS messages through the EEROS HAL. The wrapper library [[eeros_architecture:hal:hardware_libraries#ros|EEROS-ROS]] is used to connect the EEROS HAL with ROS topics. \\
 The EEROS HAL digital and analog inputs and outputs can be defined as usual in a JSON file. In this file you specify into which message type these signals get packed. There are hundreds of different message types in ROS and it is possible to create custom types. For this reason, we currently support only a few by default. If one wishes to use other message types, the wrapper library can easily be extended. The EEROS HAL digital and analog inputs and outputs can be defined as usual in a JSON file. In this file you specify into which message type these signals get packed. There are hundreds of different message types in ROS and it is possible to create custom types. For this reason, we currently support only a few by default. If one wishes to use other message types, the wrapper library can easily be extended.
 +
 +WARNING 
 +The naming of messages changes from ROS1 to ROS2, e.g.
 +  * ROS1: std_msgs::Float64
 +  * ROS2: std_msgs::msg::Float64
 +The information below is for ROS1. Change accordingly for ROS2.
  
 The keywords for the EEROS-ROS wrapper library must be set as follows: The keywords for the EEROS-ROS wrapper library must be set as follows:
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 | devHandle | string | e.g. testNodeHAL, this is the name of the node created by the HAL | | devHandle | string | e.g. testNodeHAL, this is the name of the node created by the HAL |
 | type | string | e.g. AnalogIn / AnalogOut / DigIn / DigOut | | type | string | e.g. AnalogIn / AnalogOut / DigIn / DigOut |
-| additionalArguments | string | & 'see next table'                      & 'see next table'         \\ \bottomrule +| additionalArguments | string | see table below |
- +
-\end{tabular} +
- +
-\end{table} +
  
 +===== Additional Arguments =====
 +The ''additionalArguments'' are special arguments containing additional information about the communication with a ROS network. The next table shows all currently available arguments. ''topic'' and ''msgType'' are mandatory.
  
 ^ Keyword ^ Type ^ Remarks ^ ^ Keyword ^ Type ^ Remarks ^
- +| topic | string | topic to listen or subscribe | 
-The \textit{additionalArguments} are special arguments which are parsed in the wrapper library \textit{ros-eeros}. +| msgType | string | message type | 
- +| dataField | string | data member of message | 
-These arguments contain additional information which are necessary to communicate with a ROS network. +| callOne | boolean | newest availabe message is fetched (false), oldest not yet read message is fetched (true) | 
- +| queueSize | int | size of buffer, default = 1000 | 
-All arguments are separated with a semicolon. +| useEerosSystemTime | boolean | use system time or timestamp of message |
- +
-The available arguments are listed in table \ref{tableAdditionalArgumentsEeros}. +
- +
  
 An example for an additional argument could be: An example for an additional argument could be:
 +<code>
 +  "additionalArguments": "topic=/testNode/TestTopic3; msgType=sensor_msgs::LaserScan; dataField=scan_time; callOne=false; queueSize=100"
 +</code>
  
 +===== Implemented Message Types =====
 +The table below shows all currently implemented message types and associated data fields. If your desired message type is not implemented yet, you can easily implement it yourself, see below.
  
 +^ type ^ msgType ^ dataField ^
 +| AnalogIn | std_msgs::Float64 | - |
 +| ::: | sensor_msgs::LaserScan | angle_min |
 +| ::: | ::: | angle_max |
 +| ::: | ::: | angle_increment |
 +| ::: | ::: | time_increment |
 +| ::: | ::: | scan_time |
 +| ::: | ::: | range_min |
 +| ::: | ::: | range_max |
 +| AnalogOut | std_msgs::Float64 | - |
 +| ::: | sensor_msgs::LaserScan | angle_min |
 +| ::: | ::: | angle_max |
 +| ::: | ::: | angle_increment |
 +| ::: | ::: | time_increment |
 +| ::: | ::: | scan_time |
 +| ::: | ::: | range_min |
 +| ::: | ::: | range_max |
 +| DigIn | std_msgs::BatteryState | present |
 +| DigOut | std_msgs::BatteryState | present |
  
-\begin{snugshade*} +You can find a complete example, including a *.json file, in the [[getting_started:tutorials:start|]].
- +
-\textit{\char"22additionalArguments\char"22: \char"22topic=/testNode/TestTopic3; msgType=sensor\_msgs::LaserScan; \\ +
- +
-dataField=scan\_time; callOne=false; queueSize=100\char"22,} +
- +
-\end{snugshade*} +
- +
- +
- +
- +
- +
-Table \ref{tableAdditionalArgumentsEeros} shows all currently available \textit{additionalArguments}. +
- +
-\textbf{Topic} and \textbf{msgType} are mandatory arguments. +
- +
- +
- +
-\begin{table} +
- +
-\centering +
- +
-\caption{Additional arguments specific for ros-eeros} +
- +
-\label{tableAdditionalArgumentsEeros} +
- +
-\begin{tabular}{@{}lll@{}} +
- +
-\toprule +
- +
-Key        & Typical value           & Description                                \\ \midrule +
- +
-\textbf{topic}      & /testNode/TestTopic1    & Topic to listen / subscribe                \\ +
- +
-\textbf{msgType }   & sensor\_msgs::LaserScan & ROS message type of topic                  \\  +
- +
-dataField & scan\_time              & Desired data member of message             \\ +
- +
-callOne    & true                    & Oldest, not yet fetched message is fetched \\ +
- +
-callOne    & false                   & Newest available message is fetched        \\ +
- +
-queueSize  & 1000                    & Size of buffer; queueSize=1000 if omitted  \\  +
- +
-useEerosSystemTime  & fals           & Use system time or timestamp of received msg  \\ \bottomrule +
- +
-\end{tabular} +
- +
-\end{table} +
- +
- +
- +
-In table \ref{tableImplementedMsgTypes} are all currently implemented message types and associated data fields. +
- +
-If your desired message type is not implemented yet, you can easily implement it yourself. +
- +
-See chapter \ref{sectionImplementMsgType} for a guide to implement additional message types and data fields in \textit{ros-eeros}. +
- +
- +
- +
-\begin{table}[] +
- +
-\centering +
- +
-\caption{Currently implemented message types in ros-eeros} +
- +
-\label{tableImplementedMsgTypes} +
- +
-\begin{tabular}{lll} +
- +
-\cline{2-3} +
- +
-HAL type  & msgType                    & dataField        \\ \cline{2-3}  +
- +
-AnalogIn  & std\_msgs::Float64         & -                \\ +
- +
-          & sensor\_msgs::LaserScan    & angle\_min       \\ +
- +
-          &                            & angle\_max       \\ +
- +
-          &                            & angle\_increment \\ +
- +
-          &                            & time\_increment  \\ +
- +
-          &                            & scan\_time       \\ +
- +
-          &                            & range\_min       \\ +
- +
-          &                            & range\_max       \\ +
- +
-AnalogOut & std\_msgs::Float64         & -                \\ +
- +
-          & sensor\_msgs::LaserScan    & angle\_min       \\ +
- +
-          &                            & angle\_max       \\ +
- +
-          &                            & angle\_increment \\ +
- +
-          &                            & time\_increment  \\ +
- +
-          &                            & scan\_time       \\ +
- +
-          &                            & range\_min       \\ +
- +
-          &                            & range\_max       \\ +
- +
-DigIn     & sensor\_msgs::BatteryState & present          \\ +
- +
-DigOut    & sensor\_msgs::BatteryState & present          \\ \cline{2-3}  +
- +
-\end{tabular} +
- +
-\end{table} +
- +
- +
- +
-You can find a complete example, including a *.json file, in the eeros framework (/examples/hal/Ros*). +
- +
- +
- +
- +
- +
-\subsection{How to use} +
- +
-Refere to the documentation of the EEROS HAL\footnote{http://wiki.eeros.org/eeros\_architecture/hal/start?s[]=hal} and check the example in the eeros framework (/examples/ros). +
- +
- +
- +
-First initialize the HAL in your main function: +
- +
-\lstset{language=c} +
- +
-\begin{lstlisting} +
- +
-... +
- +
-int main(int argc, char **argv) { +
- +
- ... +
- +
- // HAL +
- +
- // //////////////////////////////////////////////////////////////////////// +
- +
- HAL& hal = HAL::instance(); +
- +
- hal.readConfigFromFile(&argc, argv); +
- +
- ... +
- +
-\end{lstlisting} +
- +
- +
- +
-Add the header file to your control system: +
- +
-\lstset{language=c} +
- +
-\begin{lstlisting} +
- +
-#include <eeros/hal/HAL.hpp> +
- +
-\end{lstlisting} +
- +
- +
- +
-You can now declare \textit{PeripheralInputs} and \textit{PeripheralOutputs}: +
- +
-\lstset{language=c} +
- +
-\begin{lstlisting} +
- +
- PeripheralInput<double> analogIn0; +
- +
- PeripheralInput<bool> digitalIn0; +
- +
- PeripheralOutput<double> analogOut0; +
- +
- PeripheralOutput<bool> digitalOut0; +
- +
-\end{lstlisting} +
- +
- +
- +
-Call the constructor of the peripheral IOs with the \textit{signalID} used in the *.json file +
- +
-\begin{lstlisting} +
- +
-class MyControlSystem { +
- +
-public: +
- +
- MyControlSystem(double ts, ros::NodeHandle& rosNodeHandler): +
- +
- dt(ts), +
- +
- ... +
- +
- analogIn0("scanTimeIn0"), // argument has to match signalId of json +
- +
- digitalIn0("batteryPresent0"), +
- +
- analogOut0("scanTimeEchoOut0"), +
- +
- digitalOut0("batteryPresentEchoOut0"),+
  
- ... 
  
-} 
eeros_architecture/hal/config_ros.1513267665.txt.gz · Last modified: 2017/12/14 17:07 (external edit)