cmraaron / libvda5050pp

libVDA5050++

Table of Contents

• Table of Contents
• libVDA5050++
  • What the libVDA5050++ takes care of
• Installation
• Building the library
• Getting Started
• Developer Documentation

NOTE: The libVDA5050++ library and the VDA5050 standard are still under development. Therefore, changes to the library interface in future releases cannot be ruled out.

libVDA5050++

libVDA5050++ is a complete and open source implementation of the standard VDA5050 version 1.1.0 (VDA5050 Github Repo / VDA5050 standard v1.1.0). The aim of the VDA5050 standard is to standardize the interface for communication of automated guided vehicles (AGVs) between the control system and the AGVs. Today's systems are mainly isolated solutions, which means that the control of AGVs is proprietary and therefore manufacturer-specific. This means that AGVs from different manufacturers cannot be controlled by a control system of a specific manufacturer. The VDA5050 standard, which was developed by the German Association of the Automotive Industry (Verband der Automobilindustrie e. V. (VDA)) VDA and Mechanical Engineering Industry Association (Verband Deutscher Maschinen- und Anlagenbau (VDMA)), is intended to overcome this situation.

The libVDA5050++ offers a open source implementation of the standard, which enables manufacturers of AGvVs to quickly align their vehicles with the standard without major effort. The libVDA5050++ offers a generic interface to the control system (Master Control Adapter), which is implemented in a middleware-neutral manner which can be quickly adapted to new requirements like different middleware solutions (OPC UA, MQTT, ROS, etc.). Furthermore, the library has a lean interface to the vehicle site (AGV Adapter), which can be used to forward upcoming driving maneuvers received via the VDA5050 standard to the vehicle and forward received status information VDA5050-compliant from the vehicle back to the control system. The entire VDA5050 logic is encapsulated within the libVDA5050++.

What the libVDA5050++ takes care of

List of the most important functionalities of the libVDA5050++:

• Validate Orders (e.g. check if actions are available) and automatically respond with status/error messages if possible
• Keep track of timings (periodic status messages)
• Supervise AGV navigation (goals, pausing, resuming, stopping)
• Notify AGV about pending actions of the order based on it's position
• Notify AGV / Master Control about certain state changes
• Provide an easy access to the current state
• Process the AGV's position

Installation

You can choose to install the library as a CMake package or simply include the library as a submodule. Here you can find a guide to install / check all prerequisites to setup the libVDA5050++ on your system: Installation Guide

Building the library

You have successfully setup your system. Now you can start with building the library on your, following: Building libVDA5050++

Getting Started

You want to write your own application based on the libVDA5050++? Here is your guide: Quick Start Guide

Developer Documentation

Coming soon.

libvda5050pp's Issues

libVDA5050++ Examples Encounter MQTT Connection Issue: MqttModule not Online

I have installed MQTT and Mosquitto successfully on my Ubuntu. But when I run built examples (handler_demo, or detailed_action_handler_demo, etc.) of the 'libVDA5050++'.

Then it causes the following errors:

[2023-12-30 16:00:07.832] [mqtt] [info] MqttModule: online
[2023-12-30 16:00:07.832] [events] [debug] Dispatching vda5050pp::core::events::ConnectionChangedEvent event with specialized ID=7
[2023-12-30 16:00:07.832] [mqtt] [debug] sendConnection(headerId=1)
[2023-12-30 16:00:07.832] [events] [error] vda5050pp::core::GenericEventManager<vda5050pp::core::events::ControlEvent> caught an exception, while processing events:
 VDA5050PPMqttError @ vda5050pp::core::messages::MqttModule::<not demanglable>(): MqttModule not online
  <no additional context>

How can I fix this?
I couldn't find the solution online, nor could find a relevant supportive community.

PS: I am unable to open an issue on their original repository, that's why I have tried here.

Task queue is empty

Hi,
I'm currently trying to use your library following the quick start guideline.
Firstly, I created the handler class for navigation, pause and resume and instant action overriding the internal virtual methods as described. For each of them, a custom constructor has been defined (see attached files).

After that, I created a specific agv descriptor and filled it in every field.

As MC connector, I choose the default one given by the quick start guide.

In the main file (fms_interface_node.cpp), I filled the Handlers structure with my custom class and instantiated the Handle object of the library.

Then, the library spinParallel method is called.

Adding a print to the constructor of my custom class, none of them seems to give any feedback on the terminal window while the state message is published on the MQTT topic periodically.
I suspect that the library doesn't call the constructors.

Am I doing something wrong?

Thanks in advance, hope to receive your feedback soon.
Nunzio

attachments.zip

EDIT:
Debugging the problem, it seems that the task queue is empty so the library spinning does nothing.
Is it possible that I miss some configuration steps?