SwitchBot を ROS から利用する – データ取得デバイスの追加方法

Header  header       # timestamp

float64 temperature  # temperature in celsius
float64 humidity     # humidity percentage
float64 battery      # the current battery level, 0-100

int64   co2ppm       # CO2 ppm value, 0-9999

add_message_files(
  FILES
  Device.msg
  DeviceArray.msg
  Meter.msg
  MeterProCO2.msg
  PlugMini.msg
  Hub2.msg
  Bot.msg
  StripLight.msg
)

#!/usr/bin/env python

import os.path
from requests import ConnectionError
import rospy
from switchbot_ros.switchbot import SwitchBotAPIClient
from switchbot_ros.switchbot import DeviceError, SwitchBotAPIError
from switchbot_ros.msg import Meter, PlugMini, Hub2, Bot, StripLight, MeterProCO2

        # Publisher Message Class for each device type
        if self.device_type == 'Remote':
            rospy.logerr('Device Type: "' + self.device_type + '" has no status in specifications.')
            return
        else:
            if self.device_type == 'Meter':
                self.msg_class = Meter
            elif self.device_type == 'MeterPlus':
                self.msg_class = Meter
            elif self.device_type == 'WoIOSensor':
                self.msg_class = Meter
            elif self.device_type == 'Hub 2':
                self.msg_class = Hub2
            elif self.device_type == 'Plug Mini (JP)':
                self.msg_class = PlugMini
            elif self.device_type == 'Plug Mini (US)':
                self.msg_class = PlugMini
            elif self.device_type == 'Bot':
                self.msg_class = Bot
            elif self.device_type == 'Strip Light':
                self.msg_class = StripLight
            elif self.device_type == 'MeterPro(CO2)':
                self.msg_class = MeterProCO2
            else:
                rospy.logerr('No publisher process for "' + self.device_type + '" in switchbot_status_publisher.py')
                return

                if status:
                    time = rospy.get_rostime()
                    if self.msg_class == Meter:
                        msg = Meter()
                        msg.header.stamp = time
                        msg.temperature  = status['temperature']
                        msg.humidity     = status['humidity']
                        msg.battery      = status['battery']
                    elif self.msg_class == Hub2:
                        msg = Hub2()
                        msg.header.stamp = time
                        msg.temperature  = status['temperature']
                        msg.humidity     = status['humidity']
                        msg.light_level  = status['lightLevel']
                    elif self.msg_class == PlugMini:
                        msg = PlugMini()
                        msg.header.stamp = time
                        msg.voltage      = status['voltage']
                        msg.weight       = status['weight']
                        msg.current      = status['electricCurrent']
                        msg.minutes_day  = status['electricityOfDay']
                    elif self.msg_class == Bot:
                        msg = Bot()
                        msg.header.stamp = time
                        msg.battery      = status['battery']
                        if status['power'] == 'on':
                            msg.power    = True
                        else:
                            msg.power    = False
                        msg.device_mode  = status['deviceMode']
                    elif self.msg_class == StripLight:
                        msg = StripLight()
                        msg.header.stamp = time
                        if status['power'] == 'on':
                            msg.power    = True
                        else:
                            msg.power    = False
                        msg.brightness   = status['brightness']
                        rgb_string       = status['color']
                        r, g, b = map(int, rgb_string.split(':'))
                        msg.color_r      = r
                        msg.color_g      = g
                        msg.color_b      = b
                    elif self.msg_class == MeterProCO2:
                        msg = MeterProCO2()
                        msg.header.stamp = time
                        msg.temperature  = status['temperature']
                        msg.humidity     = status['humidity']
                        msg.battery      = status['battery']
                        msg.co2ppm       = status['CO2']
                    else:
                        return

$ source /opt/ros/noetic/setup.bash
$ cd ~/switchbot_ws
$ catkin build
$ source ~/switchbot_ws/devel/setup.bash

$ source ~/switchbot_ws/devel/setup.bash
$ roslaunch switchbot_ros switchbot.launch token:=YOUR_TOKEN secret:=YOUR_SECRET

... logging to /home/robotuser/.ros/log/999f113c-b07d-11ef-9b82-a11b8fd4bdd2/roslaunch-robotuser-PC-7718.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robotuser-PC:43087/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.17.0
 * /switchbot_ros/secret: （シークレットの上位数桁が表示）...
 * /switchbot_ros/token: （トークンの上位数桁が表示）...

NODES
  /
    switchbot_ros (switchbot_ros/switchbot_ros_server.py)

auto-starting new master
process[master]: started with pid [7726]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 999f113c-b07d-11ef-9b82-a11b8fd4bdd2
process[rosout-1]: started with pid [7736]
started core service [/rosout]
process[switchbot_ros-2]: started with pid [7743]
[INFO] [1733123900.102425]: Switchbot API Client initialized.
[INFO] [1733123900.104175]: Using SwitchBot API v1.1
[INFO] [1733123900.106131]: Switchbot Device List:
9 Item(s)
deviceName: bot74a, deviceID: （固有のID番号が表示）, deviceType: Bot
deviceName: cam-entrance01, deviceID: （固有のID番号が表示）, deviceType: None
deviceName: co2sensor-ba1, deviceID: （固有のID番号が表示）, deviceType: MeterPro(CO2)
deviceName: hub2a, deviceID: （固有のID番号が表示）, deviceType: Hub 2
deviceName: plugmini7a1, deviceID: （固有のID番号が表示）, deviceType: Plug Mini (JP)
deviceName: remote-button10a, deviceID: （固有のID番号が表示）, deviceType: Remote
deviceName: tapelight7a1, deviceID: （固有のID番号が表示）, deviceType: Strip Light
deviceName: thermo-hygrometer-f7a, deviceID: （固有のID番号が表示）, deviceType: Meter
deviceName: trackcard01, deviceID: （固有のID番号が表示）, deviceType: None

[INFO] [1733123900.107799]: Switchbot Remote List:
2 Item(s)
deviceName: air-conditioner, deviceID: （固有のID番号が表示）, remoteType: Air Conditioner
deviceName: pendant-light, deviceID: （固有のID番号が表示）, remoteType: DIY Light

[INFO] [1733123900.109488]: Switchbot Scene List:
2 Item(s)
sceneName: turnoff-all-lights, sceneID: （固有のID番号が表示）
sceneName: turnon-all-lights, sceneID: （固有のID番号が表示）

[INFO] [1733123900.139015]: Ready.

$ source ~/switchbot_ws/devel/setup.bash
$ roslaunch switchbot_ros switchbot.launch token:=YOUR_TOKEN secret:=YOUR_SECRET pub_status:=true pub_device_name:=co2sensor-ba1 pub_status_rate:=0.016666

... logging to /home/robotuser/.ros/log/e454822a-b07d-11ef-9b82-a11b8fd4bdd2/roslaunch-robotuser-PC-7804.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://robotuser-PC:36557/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.17.0
 * /switchbot_ros/secret: （シークレットの上位数桁が表示）...
 * /switchbot_ros/token: （トークンの上位数桁が表示）...
 * /switchbot_status_publisher/device_name: co2sensor-ba1
 * /switchbot_status_publisher/rate: 0.016666
 * /switchbot_status_publisher/secret: （シークレットの上位数桁が表示）...
 * /switchbot_status_publisher/token: （トークンの上位数桁が表示）...

NODES
  /
    switchbot_ros (switchbot_ros/switchbot_ros_server.py)
    switchbot_status_publisher (switchbot_ros/switchbot_status_publisher.py)

auto-starting new master
process[master]: started with pid [7812]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e454822a-b07d-11ef-9b82-a11b8fd4bdd2
process[rosout-1]: started with pid [7822]
started core service [/rosout]
process[switchbot_ros-2]: started with pid [7829]
process[switchbot_status_publisher-3]: started with pid [7830]
[INFO] [1733124025.952044]: Switchbot API Client initialized.
[INFO] [1733124025.953872]: Using SwitchBot API v1.1
[INFO] [1733124025.955817]: Switchbot Device List:
9 Item(s)
deviceName: bot74a, deviceID: （固有のID番号が表示）, deviceType: Bot
deviceName: cam-entrance01, deviceID: （固有のID番号が表示）, deviceType: None
deviceName: co2sensor-ba1, deviceID: （固有のID番号が表示）, deviceType: MeterPro(CO2)
deviceName: hub2a, deviceID: （固有のID番号が表示）, deviceType: Hub 2
deviceName: plugmini7a1, deviceID: （固有のID番号が表示）, deviceType: Plug Mini (JP)
deviceName: remote-button10a, deviceID: （固有のID番号が表示）, deviceType: Remote
deviceName: tapelight7a1, deviceID: （固有のID番号が表示）, deviceType: Strip Light
deviceName: thermo-hygrometer-f7a, deviceID: （固有のID番号が表示）, deviceType: Meter
deviceName: trackcard01, deviceID: （固有のID番号が表示）, deviceType: None

[INFO] [1733124025.957387]: Switchbot Remote List:
2 Item(s)
deviceName: air-conditioner, deviceID: （固有のID番号が表示）, remoteType: Air Conditioner
deviceName: pendant-light, deviceID: （固有のID番号が表示）, remoteType: DIY Light

[INFO] [1733124025.959085]: Switchbot Scene List:
2 Item(s)
sceneName: turnoff-all-lights, sceneID: （固有のID番号が表示）
sceneName: turnon-all-lights, sceneID: （固有のID番号が表示）

[INFO] [1733124025.981926]: Ready.
[INFO] [1733124026.191206]: Switchbot API Client initialized.
[INFO] [1733124026.192948]: Using SwitchBot API v1.1
[INFO] [1733124026.195299]: Rate: 0.016666
[INFO] [1733124026.197702]: deviceName: co2sensor-ba1 / deviceType: MeterPro(CO2)
[INFO] [1733124026.200537]: Ready: SwitchBot Status Publisher for co2sensor-ba1

$ source ~/switchbot_ws/devel/setup.bash
$ rostopic list

/rosout
/rosout_agg
/switchbot_ros/devices
/switchbot_ros/switch/cancel
/switchbot_ros/switch/feedback
/switchbot_ros/switch/goal
/switchbot_ros/switch/result
/switchbot_ros/switch/status
/switchbot_status_publisher/co2sensor_ba1

$ rostopic echo /switchbot_status_publisher/co2sensor_ba1

header: 
  seq: 1
  stamp: 
    secs: 1733124088
    nsecs:   5677223
  frame_id: ''
temperature: 25.4
humidity: 35.0
battery: 100.0
co2ppm: 562
---
header: 
  seq: 2
  stamp: 
    secs: 1733124147
    nsecs: 910016298
  frame_id: ''
temperature: 25.4
humidity: 35.0
battery: 100.0
co2ppm: 562
---