ROS2 basic tutorial which following the Kyoto Univ.'s lecture.
http://lab3.kuis.kyoto-u.ac.jp/~takase/ros/4dashing.pdf
source /opt/ros/version-name/setup.bash
click to view the directories' structure
ros2_ws/
build/
...
log/
...
install/
...
src/
README.md
build/
install/
log/
package_1/
package_2/
...
pull down exp.
System.out.println("Hello to see U!");
cd ~/ros2_ws
colcon build
source install/local_setup.bash
Genarate a package:
cd ~/ros2_ws/src
ros2 pkg create pubsub_topic --dependencies std_msgs rclcpp
Build package pubsub_topic
:
cd ~/ros2_ws
colcon build --packages-select pubsub_topic
Execute talker
in terminal 1:
. ~/ros2_ws/install/local_setup.bash
ros2 run pubsub_topic talker
Execute listener
in terminal 2:
. ~/ros2_ws/install/local_setup.bash
ros2 run pubsub_topic listener
Workspace configration:
cd ~/ros2_ws
source install/local_setup.bash
Generate a pacakage:
cd src/
ros2 pkg create ros_study_types --dependencies rosidl_default_generators
Delete useless directories:
rm -rf ros_study_types/src ros_study_types/include
Add the following statement to the file src/ros_study_types/msg/Human.msg
:
string name
uint16 height
float32 weight
Bulid package ros_study_types
:
cd ~/ros2_ws
colcon build --packages-select ros_study_types
Create a new package using Unique defined type:
cd src
ros2 pkg create pubsub_custom --dependencies rclcpp ros_study_types
Bulid package pubsub_custom
:
cd ~/ros2_ws
colcon build --packages-select pubsub_custom
Execute talker
in terminal 1:
. ~/ros2_ws/install/local_setup.bash
ros2 run pubsub_custom bmi_talker
Execute listener
in terminal 2:
. ~/ros2_ws/install/local_setup.bash
ros2 run pubsub_custom bmi_listener
Add the following statement to the file src/ros_study_types/srv/Human.srv
:
stirng name
uint16 height
float32 weight
---
float32 bmi
Bulid package ros_study_types
:
cd ~/ros2_ws
colcon build --packages-select ros_study_types
Generate a new package service_custom
:
cd ~/ros2_ws
source install/local_setup.bash
cd src/
ros2 pkg create service_custom --dependencies rclcpp ros_study_types
Bulid package service_custom
:
cd ~/ros2_ws
colcon build --packages-select service_custom
Execute bmi_server
in terminal 1:
. ~/ros2_ws/install/local_setup.bash
ros2 run service_custom bmi_server
Execute client
in termianl 2:
. ~/ros2_ws/install/local_setup.bash
ros2 run service_custom bmi_client ¥
bob 183 64.4
Create an action file in cd ros_study_types/action
and paste belowing contents and save as Fibonacci.action
:
int32 order
---
int32[] sequence
---
int32[] sequence
Build the package ros_study_types
:
cd ~/ros2_ws
colcon build --packages-select ros_study_types
Create the action package action_costum
:
cd ~/ros2_ws
source install/local_setup.bash
cd src/
ros2 pkg create action_custom --dependencies rclcpp rclcpp_action ros_study_types
Build the package action_costum
:
cd ~/ros2_ws
colcon build --packages-select action_custom
Execute server
in terminal 1:
. ~/ros2_ws/install/local_setup.bash
ros2 run action_custom servier
Execute client
in terminal 2:
. ~/ros2_ws/install/local_setup.bash
ros2 run action_custom client
Generate a new package pubsub_component
under ros2_ws/src
:
ros2 pkg create pubsub_component --dependencies rclcpp std_msgs class_loader
(Use existing files in this library)
Build the package pubsub_component
:
cd ~/ros2_ws
colcon build --packages-select pubsub_component
Execute pubsub_component-->talker
in terminal 1:
. ~/ros2_ws/install/local_setup.bash
ros2 run pubsub_component talker
Execute pubsub_topic-->listener
in terminal 2:
. ~/ros2_ws/install/local_setup.bash
ros2 run pubsub_topic listener
You also can try execute the listener
by using component: Reference to this github
Parameters is following the ROS2 official tutorial: Using parameters in a class (C++, Humble)
Generate a new package cpp_parameters
in ros2_ws/src
:
ros2 pkg create --build-type ament_cmake cpp_parameters --dependencies rclcpp
Update package.xml
:
<description>C++ parameter tutorial</description>
<maintainer email="you@email.com">Your Name</maintainer>
<license>Apache License 2.0</license>
Update Cmakelist.txt
as the file provided in this library.
Build and run the package cpp_parameters
in ros2_ws
:
colcon build --packages-select cpp_parameters
Source the setup file in a new terminal under ros2_ws
& run the node cpp_parameters
:
. install/setup.bash
ros2 run cpp_parameters minimal_param_node
Coming soon...
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