ros_opcua_communication 2.0

[yangpeiren]

Main Features

The main features of this version compared to the old version are:

1. Modeling the ROS messages to OPC UA extension object (extended data types), the extension objects could be directly used for information exchange between different UA server and clients. Related code is already merged to the open source project python-opcua, please check here.

2. Modelling ROS system information by ROS nodes, the version 1.0 organizes services, topics and actions by their names, whereas this version organizes them with the nodes they related to, for instance, topics, all ROS nodes which publish one specific topic will have a UA property (as publisher) to display it in UA server, or a UA variable (as subscriber) and a method to publish such a message under the topic to interact with ROS.

2. Modeling ROS system by topics, services, and link them with folders to nodes, so that a node "view" is supported, which is an analog to the information retrieved from rosnode info xxx.

3. Support displaying ROS parameters, analog to rosparam list.

4. Added a client, so that the data inquiry, data change notification and method call can be done without UaExpert.

Tasks

Before the merge, we still need to solve some problems:

• Wait for the result of the pull request to python-opcua, if the Extension objection creation module is accepted, we need to adapt our project to the new package structure.

• Bug fixing, see the know issues.

• Testing with more ROS packages.

  • Tested with turtlesim, 'turtle_actionlib'
  • Tested with iirob-kuka r3

• Documentation.