Generic Sensor Client

A SMACC2 client library for subscribing to ROS topics with optional timeout watchdog functionality. Built using a pure component-based architecture following SMACC2 best practices.

Features

• Component-based architecture - Uses CpTopicSubscriber and CpMessageTimeout components
• Optional timeout watchdog - Configurable message timeout monitoring
• Type-safe - Template-based for any ROS message type
• Event-driven - Posts SMACC2 events for message reception and timeouts
• Flexible configuration - Configure topic and timeout at construction or runtime

Architecture

The multirole sensor client follows the ClKeyboard pattern where all functionality is implemented through composable components:

ClGenericSensor
    ├── CpTopicSubscriber (from smacc2 core)
    │   ├── Subscribes to ROS topic
    │   ├── Posts EvTopicMessage events
    │   └── Posts EvTopicInitialMessage events
    │
    └── CpMessageTimeout (optional)
        ├── Monitors message reception
        ├── Posts EvTopicMessageTimeout events
        └── Emits onMessageTimeout_ signal

Events Posted

• EvTopicMessage<TSource, TOrthogonal, TMessageType> - Posted on every message
• EvTopicInitialMessage<TSource, TOrthogonal, TMessageType> - Posted on first message only
• EvTopicMessageTimeout<TSource, TOrthogonal> - Posted when timeout occurs (if configured)

Usage

Basic Usage (No Timeout)

#include <cl_generic_sensor/cl_generic_sensor.hpp>

namespace my_sm
{
// Create a client for sensor_msgs::LaserScan
class ClLidar : public cl_generic_sensor::ClGenericSensor<sensor_msgs::msg::LaserScan>
{
public:
  ClLidar()
  {
    this->topicName_ = "/scan";
    // No timeout configured - watchdog disabled
  }
};
}

Usage with Timeout Watchdog

#include <cl_generic_sensor/cl_generic_sensor.hpp>

namespace my_sm
{
// Create a client with 5-second timeout
class ClGps : public cl_generic_sensor::ClGenericSensor<sensor_msgs::msg::NavSatFix>
{
public:
  ClGps()
  {
    this->topicName_ = "/gps/fix";
    this->timeout_ = rclcpp::Duration(5, 0);  // 5 second timeout
  }
};
}

Constructor-based Configuration

// Direct construction with topic and timeout
ClGenericSensor<std_msgs::msg::String> sensor("/topic_name", rclcpp::Duration(3, 0));

Using in Orthogonals

class OrSensor : public smacc2::Orthogonal<OrSensor>
{
public:
  void onInitialize() override
  {
    auto sensor_client = this->createClient<ClLidar>();
  }
};

State Transitions with Events

```cpp

File truncated at 100 lines see the full file

Changelog for package multirole_sensor_client

2.3.16 (2023-07-16)

### Added - Merged branch 'humble' from [robosoft-ai/SMACC2]{.title-ref} repository - Brettpac branch (#518) - Attempted fix for ros buildfarm issue - Further work on buildfarm problem - Co-authored-by: brettpac <<brettpac@pop-os.localdomain>> - Contributors: brettpac, pabloinigoblasco

2.3.6 (2023-03-12)

1.22.1 (2022-11-09)

### Added - Pre-release - Contributors: pabloinigoblasco

0.3.0 (2022-04-04)

0.0.0 (2022-11-09)

### Added - Progress in humble SMACC2 deb generation - Reverted commit dec14a936a877b2ef722a6a32f1bf3df09312542 - Ignored packages not to be released - Feature/master rolling to galactic backport (#236) - Updated mentions of SMACC/ROS to SMACC2/ROS2 - Progress on navigation rolling - Renamed folders, deleted tracing.md, edited README.md - Added smacc2_performance_tools - Performance tests improvements - Format cleanup for sm_respira_1 - Optimized dependencies in move_base_z_planners_common - Renamed event generator library - CI setup and file renaming - Updated launch command to ros2 launch sm_respira_1 sm_respira_1.launch - Added new feature, cb_wait_topic_message - Corrected all linters and formatters - Co-authored-by: Ubuntu 20-04-02-amd64 <<brett@robosoft.ai>>, Denis Štogl <<denis@stogl.de>> - Contributors: Denis Štogl, pabloinigoblasco

0.1.0 (Date: TBD)

• Build-status table
• Detailed install instructions (adjusted from [here](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver#readme))
• Default build type set to [Release]{.title-ref} for faster performance and smaller executables
• Updated examples section
• Resolved missing dependency in smacc_msgs and reorganized for better overview
• Fixed build issues
• Fixed bug in smacc2 component
• Cleaned up formatting in various packages
• Optimized dependencies in move_base_z_planners_common
• Corrected build-overview table
• Updated and unified CI configurations
• Manual installation of ros-rolling-ros2trace, now automated in setupTracing.sh
• Reverted changes in commit f603166a4b3ccdfe96c64d9f9fb9d8b49fbf0e61
• Restored all versions to 0.0.0
• Ignored all packages except smacc2 and smacc2_msgs
• Updated changelogs
• Reformatting the whole project
• Enabled all packages to compile
• Added getLogger functionality and refactoring
• Reactivated smacc2 nav clients for rolling via submodules
• Edited tracing.md to reflect new tracing event names
• Performance tests improvements
• Various performance and bug fixes
• Renamed event generator library
• Used tf_geometry_msgs.h in galactic
• Used galactic branches in .repos-file
• Do not execute clang-format on smacc2_sm_reference_library package
• Cleaned up trailing spaces
• Added README tutorial for Dockerfile
• Updated README.md
• Updated tracing/ManualTracing.md
• Added setupTracing.sh for automated installation of ros-rolling-ros2trace
• Location of sh file assumed if user follows README.md under "Getting started"
• Denis Štogl
• Pablo Iñigo Blasco
• pabloinigoblasco
• reelrbtx
• Declan Dury
• brettpac
• David Revay