TEMAS Common Node

The common node exposes high-level services like shutdown/restart, mode toggles (near mode), and diagnostic queries (firmware version, hostname, MAC address, temperature, etc.).

It also publishes an informational topic with live status messages.

class TemasCommonNode(*args, **kwargs)

Bases: Node

ROS2 node for interacting with TEMAS Common functionalities.

Provides services for actions, data queries, and configuration using Trigger services.

Parameters:

• ip_address (str) –

  IP address of TEMAS device (default: ‘192.168.4.4’)

  Example:

  ros2 run temas_ros2 common --ros-args -p ip_address:=192.168.4.4

• Topics (Published)

• ----------------

• temas/common/info (std_msgs.msg.String) –

  Status or info messages from the node.

  Example:

  ros2 topic echo /temas/common/info

• Services

• --------

• Actions

• -------

• shutdown (Trigger) –

  Shutdown TEMAS device

  ros2 service call /temas/common/shutdown std_srvs/srv/Trigger

• restart (Trigger) –

  Restart TEMAS device

  ros2 service call /temas/common/restart std_srvs/srv/Trigger

• near_mode_on (Trigger) –

  Enable near mode

  ros2 service call /temas/common/near_mode_on std_srvs/srv/Trigger

• near_mode_off (Trigger) –

  Disable near mode

  ros2 service call /temas/common/near_mode_off std_srvs/srv/Trigger

• Queries (Data)

• ------------

• get_fw_version (Trigger) –

  Get firmware version

  ros2 service call /temas/common/get_fw_version std_srvs/srv/Trigger

• get_hostname (Trigger) –

  Get hostname

  ros2 service call /temas/common/get_hostname std_srvs/srv/Trigger

• get_ip (Trigger) –

  Get IP address

  ros2 service call /temas/common/get_ip std_srvs/srv/Trigger

• get_mac (Trigger) –

  Get MAC address

  ros2 service call /temas/common/get_mac std_srvs/srv/Trigger

• get_sn (Trigger) –

  Get serial number

  ros2 service call /temas/common/get_sn std_srvs/srv/Trigger

• get_temperature (Trigger) –

  Get internal temperature

  ros2 service call /temas/common/get_temperature std_srvs/srv/Trigger

• get_ports (Trigger) –

  Get ports of TEMAS subsystems

  ros2 service call /temas/common/get_ports std_srvs/srv/Trigger

• get_laser_x_los (Trigger) –

  Get laser X line-of-sight position

  ros2 service call /temas/common/get_laser_x_los std_srvs/srv/Trigger

• get_laser_y_los (Trigger) –

  Get laser Y line-of-sight position

  ros2 service call /temas/common/get_laser_y_los std_srvs/srv/Trigger

handle_shutdown(request, response)

Shutdown the TEMAS device.

Parameters:

• request (Trigger.Request)

• response (Trigger.Response)

Return type:

Trigger.Response

handle_restart(request, response)

Restart the TEMAS device.

handle_near_on(request, response)

Enable near mode on the TEMAS device.

handle_near_off(request, response)

Disable near mode on the TEMAS device.

handle_get_fw(request, response)

Get firmware version.

handle_get_hostname(request, response)

Get hostname.

handle_get_ip(request, response)

Get IP address.

handle_get_mac(request, response)

Get MAC address.

handle_get_sn(request, response)

Get serial number.

handle_get_temp(request, response)

Get internal temperature.

handle_get_ports(request, response)

Get ports of TEMAS subsystems.

handle_get_laser_x(request, response)

Get laser X line-of-sight position.

handle_get_laser_y(request, response)

Get laser Y line-of-sight position.

main(args=None)

Run the TEMAS Common Node.