专业做网站 优帮云,方案策划网站,濮阳建设网站,论坛的网站开发项目vda5050
VDA5050协议介绍 和 详细翻译-CSDN博客
ros与mqtt相互转换
如何转换的#xff0c;通过某个中转包#xff0c;获取ros的消息然后以需要的格式转换为mqtt
需要的参数
ros相关
parameters[
(ros_subscriber_type, vda5050_msgs/NodeState),
(ros_subscriber_queue…vda5050
VDA5050协议介绍 和 详细翻译-CSDN博客
ros与mqtt相互转换
如何转换的通过某个中转包获取ros的消息然后以需要的格式转换为mqtt
需要的参数
ros相关
parameters[
(ros_subscriber_type, vda5050_msgs/NodeState),
(ros_subscriber_queue, 1),
]
mqtt相关
parameters[
(interface_name, uagv),
(major_version, v2),
(manufacturer, RobotCompany),
(serial_number, carter01),
(mqtt_client_name, RosToMqttBridge),
(mqtt_host_name, localhost),
(mqtt_port, 1883),
(mqtt_transport, tcp),
(mqtt_ws_path, ),
(mqtt_keep_alive, 60),
(convert_snake_to_camel, True),
(reconnect_period, 5),
(retry_forever, False),
(num_retries, 10)
]
ros需要的内容
订阅了需要转换为mqtt的ros订阅者
self.subscription self.create_subscription(ros_loader.get_message_class(self.get_parameter(ros_subscriber_type).value),ros_sub_topic, self.__ros_subscriber_callback,self.get_parameter(ros_subscriber_queue).value)mqtt需要的内容
mqtt客户端
self.mqtt_client mqtt.Client(self.get_parameter(mqtt_client_name).value,transportself.get_parameter(mqtt_transport).value)mqtt配置项
if self.get_parameter(mqtt_transport).value websockets and \self.get_parameter(mqtt_ws_path).value ! :self.mqtt_client.ws_set_options(pathself.get_parameter(mqtt_ws_path).value)self.interface_name self.get_parameter(interface_name).valueself.major_version self.get_parameter(major_version).valueself.manufacturer self.get_parameter(manufacturer).valueself.serial_number self.get_parameter(serial_number).valueself.mqtt_topic_prefix \f{self.interface_name}/{self.major_version}/{self.manufacturer}/{self.serial_number}mqtt状态检查
基于次数、或bool值结合try-except来实现对mqtt_host_name、mqtt_port、mqtt_keep_alive的检查
max_retries self.get_parameter(num_retries).valueretries 0connected Falseretry_forever self.get_parameter(retry_forever).valuewhile retries max_retries or retry_forever:try:self.mqtt_client.connect(self.get_parameter(mqtt_host_name).value,self.get_parameter(mqtt_port).value,self.get_parameter(mqtt_keep_alive).value)connected Truebreakexcept ConnectionRefusedError as e:self.get_logger().error(fConnection Error: {e}. Please check the mqtt_host_name.)time.sleep(self.get_parameter(reconnect_period).value)retries 1except socket.timeout as e:self.get_logger().error(fConnection Error: {e}. Please check the mqtt_host_name and make sure it is reachable.)time.sleep(self.get_parameter(reconnect_period).value)retries 1except socket.gaierror as e:self.get_logger().error(fConnection Error: {e}. Could not resolve mqtt_host_name)time.sleep(self.get_parameter(reconnect_period).value)retries 1if connected:self.mqtt_client.loop_start()else:self.get_logger().error(Failed to connect to MQTT broker, ending retries.)ros话题转换mqtt
需要使用的包
from rosbridge_library.internal import message_conversion
import json使用message_conversion提取话题数据利用json将提取的数据转换并发布到mqtt客户端中。 def __ros_subscriber_callback(self, msg):try:extracted message_conversion.extract_values(msg)if self.get_parameter(convert_snake_to_camel).value:self.mqtt_client.publish(f{self.mqtt_topic_prefix}/state,json.dumps(convert_dict_keys(extracted, snake_to_dromedary)))else:self.mqtt_client.publish(f{self.mqtt_topic_prefix}/state, json.dumps(extracted))except (message_conversion.FieldTypeMismatchException,json.decoder.JSONDecodeError) as e:self.get_logger().info(repr(e))mqtt转换ros
使用包
from rosbridge_library.internal import ros_loader
from rosbridge_library.internal import message_conversion
import json用ros_loader.get_message_instance创建ros消息
接收mqtt的msg由json加载为ros消息键值再用message_conversion将ros消息键值对转换为ros_msg并利用发布者发布。
def on_mqtt_message(client, userdata, msg):try:publisher Noneself.get_logger().info(fFrom {msg.topic}: {str(msg.payload)})if msg.topic.endswith(order):ros_msg ros_loader.get_message_instance(self.get_parameter(ros_publisher_type).value)publisher self.publisherif msg.topic.endswith(instantActions):ros_msg ros_loader.get_message_instance(vda5050_msgs/InstantActions)publisher self.instant_actions_publisherif self.get_parameter(convert_camel_to_snake).value:message_dict json.loads(str(msg.payload, utf-8))converted_message_dict convert_dict_keys(message_dict, camel_to_snake)message_conversion.populate_instance(converted_message_dict, ros_msg)else:message_conversion.populate_instance(json.loads(str(msg.payload, utf-8)), ros_msg)if publisher:publisher.publish(ros_msg)except (message_conversion.FieldTypeMismatchException,json.decoder.JSONDecodeError) as e:self.get_logger().info(repr(e))error_msg String()error_msg.data repr(e)self.error_publisher.publish(error_msg)源码
如下页面
isaac_ros_mission_client — isaac_ros_docs documentation
git clone git clone -b release-3.1 https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_mission_client.git isaac_ros_mission_client
