This section will introduce the H-ROS CLI utility:
This CLI will communicate with the API available in each of the H-ROS modules.
This CLI will allow to configure some basic aspects related to our H-ROS SoM, this documentations corespond to the H-ROS-cli-v.0.04 version. The supported actions are the next:
The CLI can be downloaded from the official github repository or via pip:
git clone https://github.com/AcutronicRobotics/H-ROS-cli
cd H-ROS-cli
pip3 install -r requirements.txt
python3 setup.py installVia pip:
pip3 install hrosAfter installing the H-ROS CLI the hros command will be available, use hros -h to get all the available commands.
usage: hros [-h] {module,configure} ...
hros
positional arguments:
{module,configure} commands
module Get and Set module related data
configure Get and Set module specific configuration data
optional arguments:
-h, --help show this help message and exitThe module option will allow to get infortmation related to the SoM, also will allow to stop, start or reset the H-ROS SoM
usage: hros module [-h] {list,info,start,stop,reset} ...
positional arguments:
{list,info,start,stop,reset}
commands
list Print a list of modules available
info Print information of selected module
start Start the build-in lifecycle service
stop Stop the build-in lifecycle service
reset Set default configuration for module
optional arguments:
-h, --help show this help message and exitReturns information related with the H-ROS SoM
hros module info 192.168.1.61
{
"api": {
"version": 0.04
},
"errors": {},
"response": {
"info": {
"hostname": "hros-actuation-servomotor-70B3D521A00E",
"type": "H-ROS SoM"
}
},
"valid": true,
"warnings": {}
}
Starts the lifecycle service available in the H-ROS SoM
hros module start 192.168.1.61
{
"api": {
"version": 0.04
},
"errors": {},
"response": "start",
"valid": true,
"warnings": {}
}Stops the lifecycle service available in the H-ROS SoM
hros module stop 192.168.1.61
{
"api": {
"version": 0.04
},
"errors": {},
"response": "stop",
"valid": true,
"warnings": {}
}
The configure option will allow to configure the target H-ROS SoM, things like rmw_implementatio, ros_domain_id,
module type of set motors zero (only in some compatible devices)
usage: hros configure [-h]
{rmw_implementation,ros_domain_id,type,zero,security}
...
positional arguments:
{rmw_implementation,ros_domain_id,type,zero,security}
commands
rmw_implementation Get or Set rmw_implementation
ros_domain_id Get or Set ros_domain_id
type Get or Set the type of module this SoM can act as
zero Set the actual servomotor position as zero
security Security related commands
optional arguments:
-h, --help show this help message and exitThe rmw_implementation sub-command will allow to get or set the rmw_implementation configuration in the H-ROS SoM.
hros configure rmw_implementation 192.168.1.61
{
"api": {
"version": 0.04
},
"errors": {},
"response": {
"rmw_implementation": "rmw_opensplice_cpp"
},
"valid": true,
"warnings": {
"NOT_APPLIED": "The service have not been restarted after some value changed"
}
}
Use the --set option to set a new value.
hros configure rmw_implementation 192.168.1.61 --set rmw_fastrtps_cpp
{
"api": {
"version": 0.04
},
"errors": {},
"response": {
"rmw_implementation": "rmw_fastrtps_cpp"
},
"valid": true,
"warnings": {
"NOT_APPLIED": "The service have not been restarted after some value changed"
}
}
The ros_domain_id sub-command will allow to get or set the ros_domain_id configuration in the H-ROS SoM.
hros configure ros_domain_id 192.168.1.61
{
"api": {
"version": 0.04
},
"errors": {},
"response": {
"ros_domain_id": 40
},
"valid": true,
"warnings": {}
}Use the --set option to set a new value.
hros configure ros_domain_id --set 41 192.168.1.61
{
"api": {
"version": 0.04
},
"errors": {},
"response": {
"ros_domain_id": 41
},
"valid": true,
"warnings": {
"NOT_APPLIED": "The service have not been restarted after some value changed"
}
}
This option will allow to set the actual position of a servomotor to zero, this option is only available in devices that support to set relative zeros.
hros configure zero 192.168.1.61 --set true
{
"api": {
"version": 0.04
},
"errors": {},
"response": {
"set_zero": true
},
"valid": true,
"warnings": {}
}
This option require to stop the lifecycle of the H-ROS SoM.
After executing a command an json output will be prompt, these are some examples of the types of output.
This is a valid request to stop a lifecycle
{
"api": {
"version": 0.04
},
"errors": {},
"response": "stop",
"valid": true,
"warnings": {}
}This is a valid response of a request of a ros_domain_id
{
"api": {
"version": 0.04
},
"errors": {},
"response": {
"ros_domain_id": 40
},
"valid": true,
"warnings": {}
}This means that the request was perform but the SoM now have some warnings, the most common warning is NO_CHANGES.
Check the request state list section for more type of warnings
{
"api": {
"version": 0.04
},
"errors": {},
"response": {
"ros_domain_id": 40
},
"valid": true,
"warnings": {
"NO_CHANGES": "The new value and actual value is the same"
}
}{
"api": {
"version": 0.04
},
"errors": {},
"response": {
"ros_domain_id": 41
},
"valid": true,
"warnings": {
"NOT_APPLIED": "The service have not been restarted after some value changed"
}
}
Not valid request means that the request made is not valid and cannot be executed. Check request state list section for more type of warnings
{
"api": {
"version": 0.04
},
"errors": {
"SOM_TYPE_ERROR": "The selected type does not exist in target H-ROS SoM"
},
"response": {
"available": [
"MARA_T5.4",
"MARA_T49",
"MARA_T30"
]
},
"valid": false,
"warnings": {}
}