openTCS
Replies: 7 comments 10 replies
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@z29591259 At this point, there isn't any fixed roadmap with a timeline - improvements happen as they are required in funded projects or as free time permits. But we have some improvements in the queue for the handling of optional/ |
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Currently, the modifications I have made include: Expanded the VehicleSimulator 2.0 to validate the VDA5050 Adapter Extended the Adapter The next step, I will test with actual vehicles. |
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@z29591259 Thanks for your explanations, they are appreciated!
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Hi @z29591259 ,Can you help in resolving this?
The build was successful, but we encountered the following error while running the kernel: An exception was caught and reported. Message: java.lang.IllegalArgumentException: org.opentcs.customizations.kernel.ActiveInAllModes is not a binding annotation. Please annotate it with @BindingAnnotation. [20240607-11:58:51-449] INFO main c.g.i.internal.MessageProcessor.visit() : An exception was caught and reported. Message: java.lang.IllegalArgumentException: org.opentcs.customizations.kernel.ActiveInAllModes is not a binding annotation. Please annotate it with @BindingAnnotation. [20240607-11:58:51-450] INFO main c.g.i.internal.MessageProcessor.visit() : An exception was caught and reported. Message: java.lang.IllegalArgumentException: org.opentcs.customizations.kernel.ActiveInAllModes is not a binding annotation. Please annotate it with @BindingAnnotation. Please guide us on resolving these issues and completing the integration of Thank you. |
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I am facing the same issues and not able to integrate the adapter with 5.19.0 kernel. @z29591259 @swltr Can you please share detailed integration document ? |
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@manjushreearadhya2016 @ptiwari0664 for further discussions on the issue you both have, please use #147. |
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Hi Stefan Walter(https://github.com/swltr), Martin Grzenia(https://github.com/martingr) I am working on the openTCS-integration-Example and I tried to integrated it with VDA5050 adapter v2.0. After Kernel, Model Editor, Operational Desk, Kernel Control Center service turned UP. I am getting in openTCS template VDA Adapter for Operational Desk as- While I enable the VDA5050 adapter, the Vehicle state is still "Unknown". and My Control Center is- my topic is : uagv/v2/xyz/0001/state It will connected with broker, but not with the Vehicle. Guide me like how can I enable Vehicle connection. |
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You need to check the message in topic |
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Thank you for Replying @z29591259, I am facing issue in setting the location of Vehicle in the operational Desk. After enable the vehicle(from Kernel Control Center), how can i set the position of vehicle in the Operational Desk? |
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Hello @z29591259, @martingr, @swltr, In opentcs-Integration-Example, I integrated the Vehicle with the VDA5050 Adapter and now, it is connected with Broker and Vehicle as well. After enable the vehicle from Kernel Control Center, I am not be able to set the initial position of the Vehicle in the Operation Desk.
Now, How can i set the position of the Vehicle, position of the Vehicle is showing me Null. How can we initially move the vehicle from some random location to the nearest Point in the opentcs-Integration-Example using VDA5050 adapter.After giving the order to the vehicle, it is also going the random place for me and sometime it is directly reach to the destination. |
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Thank you @z29591259, Now, I am able to set the vehicle position, But in my UI, the path of the vehicle is not update(red dotted lines) When the Vehicle starts moving from One point to another point, the Red Dotted lines are not updating. And when the Vehicle reach at the Destination, the Order is still in progress and it is not processing the another order, because the previous order is not complete(Order is still in progress). |
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The resource update (red dotted lines) and order completion depend on the |
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Hi Peter, z29591259 I am integrating the VDA5050 version 2.0 adapter with Opentcs-5.11.0 and encountering some issues. The Vehicle and Broker connect successfully at the KernelControlCenter, but problems arise when I try to move the vehicle at the OperationalDesk. I would appreciate any guidance on how to resolve the following issues: 1.- After enabling the vehicle and changing its integration level to "Integrated Fully", the vehicle moves erratically and in reverse. I am also including my simulation topic and message for reference. Topic: uagv/v2/XYZ/0001/order Message{ |
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This Order JSON is being sent for the first time and only includes two base nodes. The key is how the AGV's state responds. The AGV's state should update the orderId and orderUpdateId according to the VDA5050 flow before it can start moving. Then, the TCS will continue to send new orderUpdates to the AGV. |
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Hello z29591259, martingr, swltr While I am running the openTCS 5.11.0 using VDA5050 Adapter v2.0, My "order" Topic and message publish multiple time, but ideally it should publish once? My Vehicle is moving in the reverse direction, and previous traversed path is not updated. I am attaching the images to understand-
My order Topic is: uagv/v2/XYZ/0001/order and state message as : State{header=Header{headerId=9792, timestamp=2024-07-09T07:40:47.034525Z, version=2.0.0, manufacturer=xyz, serialNumber=0001}, orderId=TOrder-01J2B6VWFRJXEZ4J8CXD1PYWRP-0, orderUpdateId=0, zoneSetId=null, lastNodeId=P-0009, lastNodeSequenceId=18, nodeStates=[], edgeStates=[], agvPosition=AgvPosition{x=-17.25, y=-13.4399995803833, theta=1.5728907585144043, mapId=0, mapDescription=null, positionInitialized=true, localizationScore=1.0, deviationRange=0.0}, velocity=Velocity{vx=0.0, vy=0.0, omega=0.0}, loads=[], driving=false, paused=false, newBaseRequest=false, distanceSinceLastNode=0.0, actionStates=[], batteryState=BatteryState{batteryCharge=100.0, batteryVoltage=48.0, batteryHealth=100, charging=false, reach=null}, operatingMode=AUTOMATIC, errors=[], information=[], safetyState=SafetyState{eStop=NONE, fieldViolation=false}} Now, I am not able to figure it out. |
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@Sadhu17 Please do not hijack discussion topics with your own questions. but stick to creating your own topic. |
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Dear OpenTCS Open Source Community Development Team,
My name is Peter Yu and I am a developer working on an AGV transportation system based on OpenTCS and the VDA5050 Adapter. During testing, I have encountered some issues, including:
I plan to complete the fixes for these issues by mid-July, making the VDA5050 Adapter functionally usable to meet my needs.
I would like to inquire about the official development roadmap and timeline for the VDA5050 Adapter and explore the possibility of collaboration. I am willing to contribute code to jointly promote the development of the Adapter.
I believe that through collaboration between us, we can accelerate the development progress of the Adapter and provide users with a more stable and reliable product.
I look forward to your reply.
Sincerely,
Peter Yu
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