# ros-modbus

**Repository Path**: HarbinBonnyIntelligentTechnology/ros-modbus

## Basic Information

- **Project Name**: ros-modbus
- **Description**: ROS系统下的modbus-tcp通信
- **Primary Language**: Python
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2022-04-14
- **Last Updated**: 2022-08-15

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

modbus
=========

The modbus stack provides a wrapper from the modbus communication to standardized ROS messages. The modbus package is based on pymodbus and is also written in Python.

After a catkin_make the Python modbus classes are also available from the outside and can be easily integrated in other packages.

This stack was used in a quality inspection project with the Baxter robot interfacing with a Siemens PLC and a Cognex In-Sight camera. 

* The package modbus is the basic python wrapper for a modbus server and client for ROS
* The package modbus_cognex_insight inherits the modbus client base class and which uses specific registers. The client can send job_ids to the camera and retrieve the results of the jobs as well as barcodes and strings.
* The package modbus_plc_siemens inherits the modbus client base class and changes the register size.