README

rp_livis_bridge

This package implements node responsible for bridging between ROS 2 and LIVIS controller.

Note: LIVIS controller is edge device of LINCODE visual inspection system.

Config files

• livis_bridge.yaml - Node main config file

• livis_secrets.template.yaml - LIVIS controller secretes file template

IMPORTANT: Before launching livis_bridge, make sure to configure LIVIS secrets!

1. Copy secrets file:

   cp $ROS_WS/src/robotic-platform-ros2/rp_livis_bridge/config/livis_secrets.template.yaml $ROS_WS/src/robotic-platform-ros2/rp_livis_bridge/config/livis_secrets.yaml
   

2. Configure secret fields:

   username:
   password:
   

Launch files

• livis_bridge.launch.py - Launch node and define arguments

  • namespace (Default: robotic_platform) - Namespace of launched components.

  • use_sim_time (Default: False) - Use simulation clock.

  • log_level (Default: info) - Logging severity level.

Nodes

livis_bridge_node

Node exposes LIVIS controller’s key functionalities as ROS 2 services. Communication with controller is based on http session.

Note: This node can be easily extended to use ModbusTCP-based communication by implementing corresponding ModbusTCP client. LivisBridgeNode will keep the same public (ROS 2) API.

Service Servers

• /<namespace>/livis_bridge/create_batch rp_msgs/srv/CreateBatch - Create a new inspection batch on the LIVIS controller.

• /<namespace>/livis_bridge/end_process std_srvs/srv/Trigger - End the current inspection process for the active batch.

• /<namespace>/livis_bridge/reset_inspection std_srvs/srv/Trigger - Reset the inspection state on the LIVIS controller.

• /<namespace>/livis_bridge/trigger_signal std_srvs/srv/Trigger - Trigger inspection image capturing.

ROS Parameters

Please refer to parameters.md file.

Note: In order to update parameters.md file, got to package directory and use command: generate_parameter_library_markdown --input_yaml src/livis_bridge_node_params.yaml --output_markdown_file docs/parameters.md.