Merge pull request #9 from SICKAG/feature/multiple_ols20

Merge feature/multiple_ols20

CMakeLists.txt

@@ -303,6 +303,7 @@ install(FILES
   ols/SICK_OLS20_CO.eds
   ols/sick_line_guidance_ols10.yaml
   ols/sick_line_guidance_ols20.yaml
+  ols/sick_line_guidance_ols20_twin.yaml
   test/cfg/sick_canopen_simu_cfg.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

README.md

@@ -44,7 +44,7 @@ instructions on [doc/pcan-linux-installation.md](doc/pcan-linux-installation.md)
 Run the following script to install sick_line_guidance including all dependancies and packages required:
 
 ```bash
-source /opt/ros/melodic/setup.bash # currently ros distro melodic is supported
+source /opt/ros/noetic/setup.bash # currently ros distro melodic and noetic are supported
 cd ~ # or change to your project path
 mkdir -p catkin_ws/src/
 cd catkin_ws/src/
@@ -297,3 +297,18 @@ killall rosmaster  # kill ros core
 ```
 
 Please note, that this kills all ros processes, not just those required for sick_line_guidance.
+
+### "Debugging"
+
+:question: Question: How can I run sick_line_guidance or ros_canopen in a debugger, e.g. gdb
+
+:white_check_mark: Answer: A ros node can be started in gdb with prefix gdb, e.g.
+
+```bash
+rosrun --prefix 'gdb -ex run --args' sick_line_guidance ...
+```
+
+or with argument `launch-prefix="gdb -ex run - -args"` in the launchfile, e.g.
+```
+<node name="sick_line_guidance_can_chain_node" pkg="sick_line_guidance" type="sick_line_guidance_can_chain_node" launch-prefix="gdb -ex run - -args" output="screen" >
+```

doc/pcan-linux-installation.md

@@ -15,11 +15,12 @@ sudo dpkg --install pcanview-ncurses_0.8.7-0_amd64.deb
 
   2. If you're running ROS in a virtual machine, make sure the usb-port for the PCAN-USB-adapter is connected to your VM. 
 
-  3. Download and unzip peak-linux-driver-8.7.0.tar.gz from https://www.peak-system.com/linux/ or https://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-8.7.0.tar.gz
+  3. Download and unzip peak-linux-driver-8.17.0.tar.gz from https://www.peak-system.com/quick/PCAN-Linux-Driver
+
 
   4. Install the linux driver and required packages:
 ```bash
-cd peak-linux-driver-8.7.0
+cd peak-linux-driver-8.17.0
 # install required packages
 sudo apt-get install can-utils
 sudo apt-get install gcc-multilib
@@ -46,18 +47,17 @@ ip -details link show can0  # should print some details about "can0" net device
 ```
 Example output after successfull installation of a pcan usb adapter:
 ```bash
-user@ubuntu-ros:~/peak-linux-driver-8.7.0$ ./driver/lspcan --all
-pcan version: 8.7.0
-pcanusb32	CAN1CAN1	8MHz	500k	CLOSED	-	0	0	0
-user@ubuntu-ros:~/peak-linux-driver-8.7.0$ tree /dev/pcan-usb
+user@ubuntu-ros:~/peak-linux-driver-8.17.0$ ./driver/lspcan --all
+pcanusb32	CAN1	-	8MHz	125k	ACTIVE	-	1969	0	0
+user@ubuntu-ros:~/peak-linux-driver-8.17.0$ tree /dev/pcan-usb
 /dev/pcan-usb
 ├── 0
 │   └── can0 -> ../../pcanusb32
 └── devid=5 -> ../pcanusb32
-user@ubuntu-ros:~/peak-linux-driver-8.7.0$ ip -a link
+user@ubuntu-ros:~/peak-linux-driver-8.17.0$ ip -a link
 3: can0: <NOARP> mtu 16 qdisc noop state DOWN mode DEFAULT group default qlen 10
     link/can 
-user@ubuntu-ros:~/peak-linux-driver-8.7.0$ ip -details link show can0
+user@ubuntu-ros:~/peak-linux-driver-8.17.0$ ip -details link show can0
 3: can0: <NOARP> mtu 16 qdisc noop state DOWN mode DEFAULT group default qlen 10
     link/can  promiscuity 0 
     can state STOPPED restart-ms 0 

doc/sick_line_guidance_configuration.md

@@ -219,3 +219,14 @@ in the terminal. Example to write value 0x01 to object 2001sub5 (sensorFlipped):
 rosservice call /driver/set_object "{node: 'node1', object: '2001sub5', value: '0x01', cached: false}"
 ```
 This command results in a can upload command using a SDO with object 2001sub5.
+
+## Configuration of CAN node id
+
+The node id of a CAN device can be configured e.b. with [PCAN-View](https://www.peak-system.com/PCAN-View.242.0.html):<br/>
+![screenshot01.png](pcan-config/screenshot01.png)<br/>
+![screenshot02.png](pcan-config/screenshot02.png)<br/>
+
+## Installation and bus termination
+
+The following screenshot shows the installation and bus termination for two OLS devices:<br/>
+![screenshot03.png](pcan-config/screenshot03.png)

include/sick_line_guidance/sick_line_guidance_can_cia401_subscriber.h

@@ -71,12 +71,14 @@ namespace sick_line_guidance
      * Constructor.
      * @param[in] nh ros::NodeHandle
      * @param[in] can_nodeid can id for canopen_chain_node, f.e. "node1"
+     * @param[in] max_num_retries_after_sdo_error After SDO error, the query is repeated max. N times (default: N=2). If the SDO error persists, the can driver is shutdown and restarted.
+     * @param[in] max_sdo_rate max. sdo query and publish rate
      * @param[in] ros_topic topic for ros messages, f.e. "mls" or "ols"
      * @param[in] ros_frameid frameid for ros messages, f.e. "mls_measurement_frame" or "ols_measurement_frame"
      * @param[in] initial_sensor_state initial sensor state (f.e. 0x07 for 3 detected lines, or (1 << 4) to indicate sensor error)
      * @param[in] subscribe_queue_size buffer size for ros messages
      */
-    CanCiA401Subscriber(ros::NodeHandle & nh, const std::string & can_nodeid, const std::string & ros_topic,
+    CanCiA401Subscriber(ros::NodeHandle & nh, const std::string & can_nodeid, int max_num_retries_after_sdo_error, double max_sdo_rate, const std::string & ros_topic,
       const std::string & ros_frameid, int initial_sensor_state = 0, int subscribe_queue_size = 1);
 
     /*

include/sick_line_guidance/sick_line_guidance_can_mls_subscriber.h

@@ -71,12 +71,14 @@ namespace sick_line_guidance
      * Constructor.
      * @param[in] nh ros::NodeHandle
      * @param[in] can_nodeid can id for canopen_chain_node, f.e. "node1"
+     * @param[in] max_num_retries_after_sdo_error After SDO error, the query is repeated max. N times (default: N=2). If the SDO error persists, the can driver is shutdown and restarted.
+     * @param[in] max_sdo_rate max. sdo query and publish rate
      * @param[in] ros_topic topic for ros messages, f.e. "mls" or "ols"
      * @param[in] ros_frameid frameid for ros messages, f.e. "mls_measurement_frame" or "ols_measurement_frame"
      * @param[in] initial_sensor_state initial sensor state (f.e. 0x07 for 3 detected lines, or (1 << 4) to indicate sensor error)
      * @param[in] subscribe_queue_size buffer size for ros messages
      */
-    CanMlsSubscriber(ros::NodeHandle & nh, const std::string & can_nodeid, const std::string & ros_topic,
+    CanMlsSubscriber(ros::NodeHandle & nh, const std::string & can_nodeid, int max_num_retries_after_sdo_error, double max_sdo_rate, const std::string & ros_topic,
       const std::string & ros_frameid, int initial_sensor_state = 0, int subscribe_queue_size = 1);
 
     /*

include/sick_line_guidance/sick_line_guidance_can_ols_subscriber.h

@@ -71,12 +71,14 @@ namespace sick_line_guidance
      * Constructor.
      * @param[in] nh ros::NodeHandle
      * @param[in] can_nodeid can id for canopen_chain_node, f.e. "node1"
+     * @param[in] max_num_retries_after_sdo_error After SDO error, the query is repeated max. N times (default: N=2). If the SDO error persists, the can driver is shutdown and restarted.
+     * @param[in] max_sdo_rate max. sdo query and publish rate
      * @param[in] ros_topic topic for ros messages, f.e. "mls" or "ols"
      * @param[in] ros_frameid frameid for ros messages, f.e. "mls_measurement_frame" or "ols_measurement_frame"
      * @param[in] initial_sensor_state initial sensor state (f.e. 0x07 for 3 detected lines, or (1 << 4) to indicate sensor error)
      * @param[in] subscribe_queue_size buffer size for ros messages
      */
-    CanOlsSubscriber(ros::NodeHandle & nh, const std::string & can_nodeid, const std::string & ros_topic,
+    CanOlsSubscriber(ros::NodeHandle & nh, const std::string & can_nodeid, int max_num_retries_after_sdo_error, double max_sdo_rate, const std::string & ros_topic,
       const std::string & ros_frameid, int initial_sensor_state = 0, int subscribe_queue_size = 1);
 
     /*
@@ -172,12 +174,14 @@ namespace sick_line_guidance
      * Constructor.
      * @param[in] nh ros::NodeHandle
      * @param[in] can_nodeid can id for canopen_chain_node, f.e. "node1"
+     * @param[in] max_num_retries_after_sdo_error After SDO error, the query is repeated max. N times (default: N=2). If the SDO error persists, the can driver is shutdown and restarted.
+     * @param[in] max_sdo_rate max. sdo query and publish rate
      * @param[in] ros_topic topic for ros messages, f.e. "mls" or "ols"
      * @param[in] ros_frameid frameid for ros messages, f.e. "mls_measurement_frame" or "ols_measurement_frame"
      * @param[in] initial_sensor_state initial sensor state (f.e. 0x07 for 3 detected lines, or (1 << 4) to indicate sensor error)
      * @param[in] subscribe_queue_size buffer size for ros messages
      */
-    CanOls10Subscriber(ros::NodeHandle & nh, const std::string & can_nodeid, const std::string & ros_topic,
+    CanOls10Subscriber(ros::NodeHandle & nh, const std::string & can_nodeid, int max_num_retries_after_sdo_error, double max_sdo_rate, const std::string & ros_topic,
                      const std::string & ros_frameid, int initial_sensor_state = 0, int subscribe_queue_size = 1);
 
   }; // class CanOls10Subscriber
@@ -193,12 +197,14 @@ namespace sick_line_guidance
      * Constructor.
      * @param[in] nh ros::NodeHandle
      * @param[in] can_nodeid can id for canopen_chain_node, f.e. "node1"
+     * @param[in] max_num_retries_after_sdo_error After SDO error, the query is repeated max. N times (default: N=2). If the SDO error persists, the can driver is shutdown and restarted.
+     * @param[in] max_sdo_rate max. sdo query and publish rate
      * @param[in] ros_topic topic for ros messages, f.e. "mls" or "ols"
      * @param[in] ros_frameid frameid for ros messages, f.e. "mls_measurement_frame" or "ols_measurement_frame"
      * @param[in] initial_sensor_state initial sensor state (f.e. 0x07 for 3 detected lines, or (1 << 4) to indicate sensor error)
      * @param[in] subscribe_queue_size buffer size for ros messages
      */
-    CanOls20Subscriber(ros::NodeHandle & nh, const std::string & can_nodeid, const std::string & ros_topic,
+    CanOls20Subscriber(ros::NodeHandle & nh, const std::string & can_nodeid, int max_num_retries_after_sdo_error, double max_sdo_rate, const std::string & ros_topic,
                        const std::string & ros_frameid, int initial_sensor_state = 0, int subscribe_queue_size = 1);
 
   }; // class CanOls20Subscriber