tms_sp_machine

tms_sp_machine

tms_sp_machine is a package for handling data realated to construction machines.

• tms_sp_machine_odom

  tms_sp_machine_odom converts Odometry msg to Tmsdb msg and send it to tms_db_writer.

  Received Odometry msg is the location data of the construction machine.

  Odometry msg topic is transformed by machine_odom_tf_broadcaster node.

• tms_sp_machine_points

  tms_sp_machine_points transforms the coordinates of the machine odom using tms_tf_gui.

  Since this package is used with tms_tf_gui, please refer to this document for an example of using this package.

Usecase

1. Run tms_db_writer or tms_db_manager

Detail description is here.

Receive Tmsdb from tms_sp_machine and store them in ROS2-TMS database.

Writer

ros2 launch tms_db_manager tms_db_writer.launch.py db_host:=localhost db_port:=27017 init_db:=true

Reader and Writer

ros2 launch tms_db_manager tms_db_manager.launch.py db_host:=localhost db_port:=27017 init_db:=true

2. Run tms_sp_machine_odom

After the below command, a node is executed that subscribes Odometry and publishes Tmsdb including the Odometry.

ros2 launch tms_sp_machine tms_sp_machine_odom_launch.py input/odom:=/topic/of/odom machine_name:=crawler to_frame:=world

Inputs / Outputs

Inputs

Name	Type	Description
/input/odom	nav_msgs::msg::Odometry	location of machine

Outputs

Name	Type	Description
/tms_db_data	tms_msg_db::msg::Tmsdb	Tmsdb including Odometry

Parameters

Name	Type	Default Value	Description
machine_name	string	machine_name	machine name to identify a machine from the ROS2-TMS database
to_frame	string	world	target frame_id