hex_cpp_template

Overview

This hex_cpp_template repository provides a unified C++ template for ROS1 and ROS2.

License

This project is licensed under the terms of the Apache License 2.0 - see the LICENSE file for details.

Maintainer

Dong Zhaorui

Supported Platform

• x64
• Jetson Orin Nano
• Jetson Orin NX
• Jetson AGX Orin
• Horizon RDK X5

Supported ROS Version

• ROS Noetic
• ROS Humble

---

Public APIs

Publish

Topic	Msg Type	Description
/string_out	std_msgs/String	String output
/odom	nav_msgs/Odometry	Odometry test

Subscribe

Topic	Msg Type	Description
/string_in	std_msgs/String	String input

Parameters

Name	Data Type	Description
string_prefix	std::string	String prefix
odom_frame	std::string	Odom frame
odom_child_frame	std::string	Odom child frame
odom_vel_lin	std::vector<double>	Odom linear velocity
odom_vel_ang	std::vector<double>	Odom angular velocity
odom_child_in_frame	std::vector<double>	Transform that child frame in odom frame

---

Getting Started

Dependencies

• hex_cpp_utils
• ROS Noetic or ROS Humble

Install

1. Create a workspace catkin_ws and get into the src.

   mkdir -p catkin_ws/src
   cd catkin_ws/src

2. Clone this repo.

   git clone git@github.com:hexfellow/hex_cpp_template.git

3. Go to catkin_ws directory and build the repo.

   cd ../
   
   # For ROS1
   catkin_make -DCMAKE_BUILD_TYPE=Release
   
   # For ROS2
   colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

4. Source the setup.bash and run the test blow

   # For ROS1
   source devel/setup.bash --extend
   
   # For ROS2
   source install/setup.bash --extend

Usage

• ROS1

  1. Open a terminal and run the following command:

     roslaunch hex_cpp_template hex_cpp_template.launch

  2. Open a new terminal and run the following command:

     rostopic pub /string_in std_msgs/String "data: 'Hello, World'" -r 10

  3. Open a new terminal and run the following command:

     rostopic echo /string_out

     You should see output like this:

     data: "hex_cpp_template: Hello, World;"
     ---

  4. Open a new terminal and run the following command:

     rostopic echo /odom

     You should see output like this:

     header: 
       seq: 3949
       stamp: 
         secs: 1743266556
         nsecs: 337166748
       frame_id: "odom"
     child_frame_id: "base_link"
     pose: 
       pose: 
         position: 
           x: 1.01
           y: 0.55
           z: 2.02
         orientation: 
           x: 0.0
           y: 0.0
           z: 0.0
           w: 1.0
       covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
     twist: 
       twist: 
         linear: 
           x: 1.0
           y: 0.5
           z: 2.0
         angular: 
           x: 0.1
           y: 0.05
           z: 0.0
       covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
     ---

• ROS2

  1. Open a terminal and run the following command:

     ros2 launch hex_cpp_template hex_cpp_template.launch.py

  2. Open a new terminal and run the following command:

     ros2 topic pub /string_in std_msgs/String "data: 'Hello, World'" -r 10

  3. Open a new terminal and run the following command:

     ros2 topic echo /string_out

     You should see output like this:

     data: 'hex_cpp_template: Hello, World;'
     ---

  4. Open a new terminal and run the following command:

     ros2 topic echo /odom

     You should see output like this:

     header:
       stamp:
         sec: 1743266135
         nanosec: 446084799
       frame_id: odom
     child_frame_id: base_link
     pose:
       pose:
         position:
           x: 1.01
           y: 0.55
           z: 2.02
         orientation:
           x: 0.0
           y: 0.0
           z: 0.0
           w: 1.0
       covariance:
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
     twist:
       twist:
         linear:
           x: 1.0
           y: 0.5
           z: 2.0
         angular:
           x: 0.1
           y: 0.05
           z: 0.0
       covariance:
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
       - 0.0
     ---