adma_ros2_driver

Further Information can be found at the GeneSys Technical Support Center.

Environment information

This setup was implemented and tested with the following conditions:

• Ubuntu 20.04
• ROS2 Galactic

Since it does not really use Galactic-specific code, it should also work with ROS2 Dashing/Foxy and Humble.

Usage

1. Create workspace and clone this repository

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b ros_2 $REPO_URL(HTPPS/SSH)

2. Build workspace

cd ~/ros2_ws
. /opt/ros/$INSTALLED_ROS_CONTRIB/setup.bash
colcon build --symlink-install

3. Source workspace and launch

. install/setup.bash
ros2 launch adma_ros2_driver adma_driver.launch.py

Parameter configuration

Config File

For configuring the ADMA ROS Driver the according parameters in the adma_ros2_driver/config/driver_config.yaml file have to be modified. If the workspace was built with colcon build --symlink-install, it is possible to restart the node after changing configuration parameters directly. Otherwise (built without '--symlink-install') it is necessary to rebuild the workspace to update the files. Same "linking" rule applies to the launch.py files. The available parameters are described in the table below.

Parameter	Possible Values	Description
destination_ip	IP as String	IP address of your ADMA
destination_port	Port as Integer	Destination Port of your ADMA
use_performance_check	True / False	True if you want to log informations about the performance
gnss_frame	name as string	ROS frame_id of the NavSat topic
imu_frame	name as string	ROS frame_id of the IMU topic
protocol_version	"v3.2" / "v3.3.3" / "v3.3.4"	the ADMAnet protocol version of your ADMA

Launch File

Topic Remapping

It is possible to remap ROS topics in the driver to new namings by editing the remappings=[..] entries of the launch.py-file.

Supported ADMA Protocol versions

This driver node supports several protocol versions. To switch between those, theprotocol_version parameter in the config/driver_config.yaml file has to be modified. (e.g. define "v3.3.4" to use version 3.3.4. But care, this data format should also be configured in the ADMA Webinterface at menu 3 - Data / Ethernet Data Output Settings) .

• v3.2

    - UDP packet protocol of 768 bytes
    - supports 7 POI
  

• v3.3.3

    - UDP packet protocol of 856 bytes
    - supports 8 POI
  

• v3.3.4

    - UDP packet protocol of 856 bytes
    - supports 8 POI
    - only publishes scaled data and all relevant status/error/warning information
    - this also uses several standard-ROS msgs like Vector3 to represent XYZ coordinates instead of having 3 individual attributes
    - POI's are now integrated as a object list and can be accessed by their index 
  

Data Output

The ADMA ROS driver is able to output two different file formats.

GeneSys Binary Raw Data (.gsdb)

The ADMA ROS driver is automatically saving the raw binary ADMA data as *.gsdb file in the directory of the executed terminal. The .gsdb data format is completly integrated in the GeneSys toolchain as shown in the following graphic.

We recommend to always log .gsdb files for support purposes and for being able to reprocess the raw data with new ROS driver updates. If not needed, the logging can be disabled in the adma_driver.launch.py by setting log_gsdb_arg to False.

Rosbag

For additionally recording a rosbag file, the record_rosbag argument in the adma_driver.launch.py have to be set to True. By adapting the list recorded_topics, the ROS topics getting written to the bag file can be chosen.

Tools

Additional Tools can be found in the adma_tools folder and are separated based on their implementation language (adma_tools_cpp/ adma_tools_py).

ROS2CSV-Converter

This tool subscribes to /genesys/adma/data_scaled and /genesys/adma/status and generates a CSV file for postprocessing. It can be used live or e.g. to convert a rosbag to CSV. The tool can be used by executing it in an additional terminal:

# ensure you have sourced the workspace also in this terminal
cd ~/ros2_ws
. install/setup.bash
ros2 run adma_tools_py ros2csv

This will create a recorded_data.csv in the destination where the ros2 run adma_tools_py ros2csv command is executed. If an individual file naming needs to be used, the adma_tools_py/adma_tools_py/ros2csv_converter.py file can be adapted (self.filename = '').

BAG2GSDB-Converter

This tool subscribes to the /genesys/adma/data_raw topic and generates a *.gsdb. By remapping it is also possible to subscribe to the /genesys/adma/data_recorded topic (e.g. if you already have recorded rosbags with the deprecated data_recorded topic).

# ensure you have sourced the workspace also in this terminal
cd ~/ros2_ws
. install/setup.bash
ros2 launch adma_tools_cpp bag2gsdb.launch.py

In the launch-file you have to define the path to the desired ros2 bag directory (the one where the metadata.yaml and $FILE.db3 is located). The tool will create a raw_data.gsdb file inside the folder next to these files. The launchfile will start both, ros2 bag play and the converter tool and stops everything when the replay of the bagfile is finished. Additionally you can inject the replay_rate in the launchfile to speed-up the converting process.

NOTE: Increasing the replay_rate depends on the computer performance. It might lead to data losses. Therefore at the end of every process a log is output that contains the amount of received messages. This value can be compared with the value that is defined in the metadata.yaml (message_count entry at the /genesys/adma/data_recorded / /genesys/adma/data_raw topic).

Replay recorded GSDB files

For reprocessing .gsdb files, the path to the desired .gsdb file has to be configured in the gsdb_replay_config.yaml at the parameter gsdb_file. After that, the gsdb_replay.launch.py tool can be launched. The tool creates a .db3 file in the location where the tool was launched via terminal.

ros2 launch adma_tools_cpp gsdb_replay.launch.py