diff --git a/README.md b/README.md index b7c5ce2..00feab9 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,5 @@ # 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 @@ -7,16 +7,20 @@ 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. @@ -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 + + + + +``` + +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: @@ -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: @@ -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 diff --git a/launch/demo.launch b/launch/demo.launch index 7bdce79..3d8788a 100644 --- a/launch/demo.launch +++ b/launch/demo.launch @@ -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" />