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ROS2_ADS_Beckhoff

Overview

A ROS2 package for communication with Beckhoff's ADS devices

Keywords: ROS, ADS, Beckhoff ADS

License

The source code is released under a MIT License.

Installation

Dependencies

Building

cd ROS2WS
git clone -b main --recursive https://github.com/Capacites/ros2_ADS_Beckhoff.git
cd ..
colcon build

Node

Architecture

Archi

The package provides a C++ node: rosrun ros_ads_node ros_ads_node

While continuously updating the state of the ADS device's variables, the node may publish two types of messages:

  • The variables' state (on timer or on event depending on the configuration file)
  • The node state (indicating wether published data should be considered valid or not, and a debug code)

Published Topics

  • state ([ros_ads_msgs/State])

    Publishes the node state in a custom message, the state will be published on timer and on event:

      std_msgs/Header header            # header info
  bool state                        # Data validity
  uint8 error 					            # error number

  • report_timer ([ros_ads_msgs/ADS])

    Publishes in a custom message the IO values on timer callback for IOs configured as such in the configuration file:

    std_msgs/Header header # header info string[] varNames # variables name list string[] varTypes # variables type list float64[] varValues # variables value list

  • report_event ([ros_ads_msgs/ADS])

    Publishes in a custom message the IO values on event callback for IOs configured as such in the configuration file:

      std_msgs/Header header            # header info

    string[] varNames # variables name list string[] varTypes # variables type list float64[] varValues # variables value list

Subscribed Topics

  • command ([ros_ads_msgs/ADS])

    Subscribes to commands, write the received values on the associated outputs of the device:

    std_msgs/Header header # header info string[] varNames # variables name list string[] varTypes # variables type list float64[] varValues # variables value list

Parameters

  • name
    • Type: string
    • Description: Name of the device, must be the same in the configuration file
  • config_file
    • Type: string
    • Description: File containing the configuration to be loaded

Configuration file

A configuration file example can be found in ros_ads_node/config as configuration.yaml

Supported types

ros_ads only supports the following ADS variable types :

  • BOOL
  • BYTE
  • USINT
  • SINT
  • WORD
  • UINT
  • DINT
  • LINT
  • REAL
  • LREAL
  • DATE

Utilities

ros_ads_decode provides a decode function to use on a [ros_ads_msgs/ADS] message and returning std::map<std::string, variant_t>. variant_t is defined as std::variant<bool, uint8_t, int8_t, uint16_t, int16_t, uint32_t, int32_t, int64_t, float, double, tm>.

Setup your ADS route

route setup help

Limitation

You can connect different devices with different remote ip to same ip on PC

You can't create multiple route between same PC IP adesse and same IP device. If do this, you could have connection issue/ if you still have connection issue check if an other process use this route (pyads,.... ) .