Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Tested on ROS Noetic #4

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Tested on ROS Noetic #4

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
84 changes: 57 additions & 27 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,22 +1,26 @@
# etherdaq_ros
The driver has been tested under Ubuntu 14.04 and ROS indigo.
The driver has been tested under Ubuntu 20.04 and ROS Noetic.
To build the sources you should use catkin


Compiling
---------
Assuming you are in home directory, and you have root priviliges first you should do the following steps

In a console, type:
```bash
mkdir opto_ws
cd opto_ws
mkdir src

* mkdir opto_ws
* cd opto_ws
* mkdir src
* cd src
* catkin_init_workspace
* git clone https://github.com/OptoForce/etherdaq_ros.git
* cd ..
* catkin_make
source /opt/ros/noetic/setup.bash
catkin_make

cd src
git clone https://github.com/OptoForce/etherdaq_ros.git
cd ..

catkin_make
```

After successful compiling, you will have two executable files and one library file.

Expand All @@ -27,13 +31,39 @@ Usage - Demo
First, should check if the EtherDAQ is working by OptoForce Ethernet Discovery Tool. The tool will
show you the address of your EtherDAQ device(s) connected to your network.

To be able to run the ROS demo, you have to modify the following file:
opto_ws/src/opto_ros_driver/ethernet_daq_driver/launch/demo.launch
Replace 192.168.100.12 in the following line args="--address 192.168.100.12 --rate 1000 --filter 4"
to your EtherDAQ's address provided by the Ethernet Discovery Tool.
The default address is `192.168.1.1` you can try access the Ethernet DAQ realtime stream at [http://192.168.1.1](http://192.168.1.1) or just `ping 192.168.1.1`. If the device does not reply, try to unplug it from the power supply and re-plug it.

Once you have the correct IP

```bash
gedit opto_ws/src/opto_ros_driver/ethernet_daq_driver/launch/demo.launch
```

and set you IP

```xml
<launch>
<node
pkg="optoforce_etherdaq_driver"
type="etherdaq_node"
name="etherdaq_node"
args="--address <YOUR IP> --rate 1000 --filter 4"
/>
<node
pkg="optoforce_etherdaq_driver"
type="etherdaq_subscriber"
name="etherdaq_subscriber"
output="screen"
/>
</launch>
```

Fnally, you an run the demo

To run the demo be sure that you are in the home/opto_ws directory!
Type roslaunch optoforce_etherdaq_driver demo.launch
```bash
source devel/setup.bash
roslaunch optoforce_etherdaq_driver demo.launch
```

You should see something similar on your console:

Expand Down Expand Up @@ -63,18 +93,18 @@ Usage - Real world


The ROS driver is a simple node providing Force/Torque informations on a ROS topic.
After compiling you can find the node in the /opto_ws/devel/lib/optoforce_etherdaq_driver.
After compiling you can find the node in the `/opto_ws/devel/lib/optoforce_etherdaq_driver`.



Parameters of the node
----------------------
* --help Shows the help screen and exits.
* --rate (default: 100) (in Hz) The publish speed of the F/T informations. It also sets the EtherDAQ speed to the given value.
* --filter (default: 4) Set the filtering (Valid parameters: 0 = No filter; 1 = 500 Hz; 2 = 150 Hz; 3 = 50 Hz; 4 = 15 Hz; 5 = 5 Hz; 6 = 1.5 Hz)
* --address The IP address of the EtherDAQ device.
* --wrench publish older Wrench message type instead of WrenchStamped
* --frame_id arg (default: "base_link") Frame ID for Wrench data
* `--help` Shows the help screen and exits.
* `--rate` (default: 100) (in Hz) The publish speed of the F/T informations. It also sets the EtherDAQ speed to the given value.
* `--filter` (default: 4) Set the filtering (Valid parameters: 0 = No filter; 1 = 500 Hz; 2 = 150 Hz; 3 = 50 Hz; 4 = 15 Hz; 5 = 5 Hz; 6 = 1.5 Hz)
* `--address` The IP address of the EtherDAQ device.
* `--wrench` publish older Wrench message type instead of WrenchStamped
* `--frame_id` arg (default: "base_link") Frame ID for Wrench data


Example:
Expand All @@ -84,13 +114,13 @@ Example:

Topics of the node
------------------
The node subscribes to /etdaq_zero where you can zero the force/torque readings at the current loading level.
The node subscribes to `/etdaq_zero` where you can zero the force/torque readings at the current loading level.
* The parameter is std_msgs::Bool, if it's true, then the node zeroes otherwise it unzeroes.

The node publishes to the following topics:
* /diagnostics where you can check the status of the EtherDAQ (speed, last F/T values, system status, address, etc)
* /etherdaq_data the topic where F/T values are published either in Wrench or in WrenchStamped format if the force and torque units are given
* /etherdaq_data_raw topic where F/T values are published either in Wrench or in WrenchStamped format if the force and torque units are not given
* `/diagnostics` where you can check the status of the EtherDAQ (speed, last F/T values, system status, address, etc)
* `/etherdaq_data` the topic where F/T values are published either in Wrench or in WrenchStamped format if the force and torque units are given
* `/etherdaq_data_raw` topic where F/T values are published either in Wrench or in WrenchStamped format if the force and torque units are not given



Expand Down
2 changes: 1 addition & 1 deletion launch/demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
pkg="optoforce_etherdaq_driver"
type="etherdaq_node"
name="etherdaq_node"
args="--address 192.168.100.12 --rate 1000 --filter 4"
args="--address 192.168.1.1 --rate 1000 --filter 4"
/>
<node
pkg="optoforce_etherdaq_driver"
Expand Down