tku-iarc / hiwin_libmodbus Goto Github PK

The action name Hiwinmodbus is vague and confusing. For the user, that action is not associated with modbus.
IP address should be passed in by parameter system, not via action goal.
Automatically connect to the robot when launch this node should be better.
Name of class member variables should start or end with underscore, and they are usually private.
The declaration of member variables in a class is usually placed after functions.

@ChunAnYeh
@errrr0501
Please one of you help me check and test this.
The environment is ubuntu22.04. ros-humble

probably because of muti-thread in action server, the ctx_ in hiwin_libmodbus.cpp will become null

In hiwinmodbus_server.cpp
hiwinlibmodbus should be a member of HiwinmodbusServiceServer.
Add waiting mode to allow user to wait for robot after their previous request didn't use holding.
In addition, robot state can be published by a publisher.