How to use this package to bridge ROS2 topics to OPC UA

[liushuya7]

Hi,

I've created an issue ros2/rmw_connextdds#110 to ask about bridging ROS2 topics to OPC UA. Is there any tutorial/documentation on this?

[fgaranda]

@liushuya7 I do you have a specific use case or example in mind? The OPC UA/DDS Gateway should just like any other RTI Connext application on the DDS side, so you'll need to adapt your configurations to the data types you're bridging.

The first step would be to identify the ROS2 topics you want to bridge and their associated data types. You'll need to add those to the <types> section in your XML configuration file. Next, you'll need to register those types with the DomainParticipant referred dds_input. Lastly, you'll need to use the right Topic name in the dds_input configuration.

[liushuya7]

Hi @fgaranda,

Thanks for your reply! I've reached out to an RTI Field Application engineer and now my issue has been resolved.

The error was due to "Type consistency" as I did not have the matching type defined under <types>.

It's good to know that I can launch the "data type convert" under the "utilities" tab which converts the IDL (exported from the AdminConsole) to XML. Then I copied the generated XML into the configuration XML under <types>, and modified the <register_type> under <domain_participant> accordingly. Lastly, I relaunched rtiddsopcuagatewayapp -cfgName publicationExample and everything works fine now.

[fgaranda]

Fantastic! I'm glad you got it to work. Thanks for leaving some pointers for people who might run into this in the future.