vda5050_interfaces

This package provides ROS 2 message definitions and JSON serialization/deserialization utlities for the VDA 5050 specification.

Note

The message definitions in this package follow the VDA 5050 version 2.0.0 specification.

Features

The features of this package include:

• ROS 2 message definitions for the VDA 5050 message schema.
• Utility functions for converting between ROS 2 messages and JSON.

Warning

This package is under acive development. APIs and mesage definitions may change without notice. Use with caution in production environments.

Requirements

• ROS 2
• nlohmann_json

Supported Messages

• vda5050_interfaces::msg::Connection

• vda5050_interfaces::msg::Header is a shared field across all VDA 5050 messages.

Usage

Build the ROS 2 messages and utility library

1. Create a colcon workspace and download the source code

mkdir -p colcon_ws/src
cd colcon_ws/src
git clone https://github.com/ros-industrial/vda5050_interfaces.git

2. Download dependencies and build the workspace

cd colcon_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build

Example CMake

Link the JSON utility library in your CMakeLists.txt:

target_link_libraries(example
  PUBLIC
    ${vda5050_interfaces_LIBRARIES}
)

target_include_directories(example
  PUBLIC
    ${vda5050_interfaces_INCLUDE_DIRS}
)

Example C++

#include <chrono>

#include <nlohmann/json.hpp>

#include <vda5050_interfaces/json_utils/header.hpp>
#include <vda5050_interfaces/msg/header.hpp>

vda5050_interfaces::msg::Header header;
header.header_id = 0;

// Timestamp in milliseconds in UTC indicating a specific point relative to
// a clock's 0 point.
//
// Note: When using the serialization/deserialization utilities, this will be
// converted to/from ISO 8601 format YYYY-MM-DDTHH:mm:ss.ssZ
auto duration = std::chrono::system_clock::now().time_since_epoch();
auto millisecs =
    std::chrono::duration_cast<std::chrono::milliseconds>(duration);
header.timestamp = static_cast<int64_t>(millisecs.count());

header.version = "2.0.0";
header.manufacturer = "Manufacturer";
header.serial_number = "S0001";

// Serialize to JSON
nlohmann::json j = header;

// Deserialize from JSON
vda5050_interfaces::msg::Header header_deserialized = j;

Support

This package is developed and maintained by ROS-Industrial Consortium Asia Pacific.

License

The package is released under the Apache 2 license.