rostoyo

This is an ros2 wrapper package for the Mitutoyo USB-ITN cable demonstration by Richard Bryn (https://github.com/rabryan/pytuyo).

Installation

To install the package, do the following steps:

Install pyusb with:

sudo pip install pyusb

Clone the wrapper-repository into your colcon workspace with:

git clone --recurse-submodules https://github.com/DLR-MO/rostoyo

Now build package using colcon:

colcon build

To avoid the need of the sudo comand modify the devicerules in /etc/udev/rules.d/ by using the following command and replug the dial gauge.

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="0fe7", ATTRS{idProduct}=="4001", MODE="0660", GROUP="plugdev"' | sudo tee /etc/udev/rules.d/60-mitutoyo_usb.rules

This is also described by Richard Bryn (https://github.com/rabryan/pytuyo).

Run Example

Get sure you have sourced your setup-file with source install/local_setup.bash or if you using zsh source install/local_setup.zsh

Than start the example node with

ros2 run rostoyo rostoyo_node

You also can subscribe the topic to process the data. A we provide an example subsriber that can be started with:

ros2 run rostoyo rostoyo_subscriber.py

If you only want to request the value sometimes, you can use a service. The node will read the dial gauge value ones and send back the result. We provide an exemplay client that you can start with:

ros2 run rostoyo rostoyo_client.py

Thanks

Thanks to Oliver Mümken for the original implementation of the package.