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SICKAG / sick_safetyscanners2

ROS2 driver for SICK safety laser scanners
https://www.sick.com/de/en/opto-electronic-protective-devices/safety-laser-scanners/c/g187225
Apache License 2.0
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[feature] Adding service to retrieve config metadata #19

Closed MarcoMatteoBassa closed 9 months ago

MarcoMatteoBassa commented 2 years ago

Depends on https://github.com/SICKAG/sick_safetyscanners2_interfaces/pull/1

Adding a service to retrieve the configuration metadata from the scanners. In our use-case it is in particoular important to retrieve the checksum of the flashed configuration.

Example of output:

ros2 service call /robot_interface/micro_scan_front/config_metadata sick_safetyscanners2_interfaces/srv/ConfigMetadata "{}"
requester: making request: sick_safetyscanners2_interfaces.srv.ConfigMetadata_Request()

response:
sick_safetyscanners2_interfaces.srv.ConfigMetadata_Response(version_c_version='R', major_version_number=1, minor_version_number=1, release_version_number=0, modification_time_date=18421, modification_time_time=51078517, transfer_time_date=18421, transfer_time_time=51106684, app_checksum=1062728593, overall_checksum=272674095 , integrity_hash=[3011455438, 1669370804, 3192696433, 1845893173])
puck-fzi commented 1 year ago

Sorry for the late reply, I will have a look through it and merge it on both reporsitories

puck-fzi commented 9 months ago

Sorry for the long wait. There have been some major overhauls of the repository.

I looked through your code, and it seems that you applied multiple concepts here like changing the structure to a component from a node in addition to the added services.

I would ask if you are still working on this, that you might split it into two separate PRs that can then be separately looked at. The part with the additional services I would include, the other part I would want to have a deeper look into its advantages compared to the current structure.

Therefore, I am closing this and would be happy to review the new PRs. Thank you