adlink-ros2-example-customized-msg-srv

• platform: ROS 2 Ardent Apalone (deb-20180328-)
• Build tool: colcon build
• DDS: ADLINK OpenSplice
• RMW_IMPLEMENTATION: rmw_opensplice_cpp

This example shows how to create customized msg/srv based on the ROS 2 existing examples. Several bugs and issues are corrected due to the change of build tool of ROS 2.

rosidl_tutorial_msgs: include the customized messages and services to be used by rosidl_tutorial

• contact.msg
• AddTwoFloats.srv

rosidl_tutorials: include the programs and a customzied message

• AddressBook.msg -> composed of a contact-msg-type array
• publish_address_book.cpp -> publish few contacts
• publish_contact.cpp -> publish one contact
• rv_server.cpp

build and source:

1. cd rosidl_tutorials_msgs
2. colcon build
3. source install/setup.bash -> the package of rosidl_tutorials_msgs should be registered
4. cd ..
5. cd rosidl_tutorials
6. colcon build
7. source install/setup.bash

run:

publish a customized message

1. ros2 run rosidl_tutorials publish_address_book
2. or ros2 run rosidl_tutorials publish_contact
3. ros2 topic list -> there's a topic, /contact
4. ros2 topic echo /contact -> to check if the message is issuing
5. or ros2 topic echo /address_book

run a service server and client

1. ros2 run rosidl_tutorials srv_server
2. ros2 service list -> there's a service, add_two_floats
3. ros2 run rosidl_tutorials srv_client -> return the result of sum of the both floats

Result of add_two_floats: 5.000000

4. or ros2 service call /add_two_floats rosidl_tutorials_msgs/AddTwoFloats "{'a':1.0,'b':2.0}"

response: rosidl_tutorials_msgs.srv.AddTwoFloats_Response(sum=3.0)