First of all

ROS2 basic tutorial which following the Kyoto Univ.'s lecture.

http://lab3.kuis.kyoto-u.ac.jp/~takase/ros/4dashing.pdf

Debug record

Debug

Environment setting

source /opt/ros/version-name/setup.bash

Workspace structure

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!");

ROS2 setup

cd ~/ros2_ws
colcon build
source install/local_setup.bash

Contents

Topic / Message / Service / Action / Component / Parameters / Launch

Topic

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

Back to contents

Message

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

Back to contents

Service

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

Back to contents

Action

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

Back to contents

Component

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

Back to contents

Parameters

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

Back to contents

Launch

Coming soon...
Back to contents

---