Add support for VINT networkhub to ROS2 #172
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This is a port of ros-drivers#127 to ROS2. Closes ros-drivers#135.
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I could not test this PR because I don't have access to a VINT network hub. @patilunmesh, could you test this please? |
| if (this->get_parameter("server_name", server_name_) && | ||
| this->get_parameter("server_ip", server_ip_)) |
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I don't know much about the PhidgetNet_addServer API. If you call it to set the server name, does it always take precedence over the serial_num/hub_port that is otherwise specified?
If that is the case, then I think we should print a warning or error if the serial_num/hub_port is specified to anything but the default. Also, I think that the RCLCPP_INFO call below should probably conditionally print whether it is attaching to the server, or to the hub_port, depending on which one is configured. @mintar what do you think?
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I must admit I don't know the first thing about either the VINT serial hub nor the VINT network hub. I don't have either device for testing; that's what's making this so challenging even though it's really simple code.
In this PR, I've just ported the working code from #127 to ROS2. I haven't changed anything except replacing the ROS1 API calls with their ROS2 equivalents. Since we have this code in Noetic for a while now, and nobody has complained, I expect it's working.
You're definitely right about the RCLCPP_INFO call, but I believe somebody with access to a device for testing should make those changes.
mintar
changed the title
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@mintar I tested the code with a VINT hub using a temperature, humidity phidget and it is working!! |
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@clalancette: Seems to be working as in Noetic. Do you think this is ready for merging? |
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@clalancette: Can I merge this? |
This is a port of #127 to ROS2.
Closes #135.