Introduction
This article outlines a ROS2 setup integrating two ADMA systems. The ROS driver ingests data from both ADMA units and publishes it across all available ROS topics provided by the driver.
Start ROS Node for ADMA 1
Adapt the ADMA 1 settings for your use. It is important to give both ADMA systems different IP addresses.
Then adjust the Driver Config file to match the configuration settings of ADMA 1:
Now start the ADMA ROS driver with the namespace argument defined as adma1:
mkdir -p ~/ros2_ws/data/adma1
cd ~/ros2_ws/data/adma1
ros2 launch adma_ros2_driver adma_driver.launch.py adma_namespace:='adma1'Start ROS Node for ADMA X
Adapt the ADMA 2 settings for your use. It is important to give both ADMA systems different IP addresses.
Then adjust the Driver Config file to match the configuration settings of ADMA 2:
After that start the ADMA ROS driver with the namespace argument defined as adma2:
mkdir -p ~/ros2_ws/data/adma1
cd ~/ros2_ws/data/adma1
ros2 launch adma_ros2_driver adma_driver.launch.py adma_namespace:='adma2'Data Output Validation
When the driver got started multiple times, we can open up a new terminal and use the following command to check all published ADMA ROS Topics:
ros2 topic list
