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Ubuntu 20.04 Build of QuanergyClientRos

Install ROS Noetic RVIZ and configure environment. official documentation

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt update
sudo apt install ros-noetic-rviz ros-noetic-pcl-ros ros-noetic-rosbash
source /opt/ros/noetic/setup.bash

Build Instructions

Clone the SDK and the ROS repository

mkdir -p ~/QuanergySystems/catkin_ws/src
cd ~/QuanergySystems/catkin_ws/src
git clone https://github.com/QuanergySystems/quanergy_client.git
git clone https://github.com/QuanergySystems/quanergy_client_ros.git

Build QuanergyClientRos

cd ~/QuanergySystems/catkin_ws
catkin_make_isolated

Testing Build

source /opt/ros/noetic/setup.bash
source ~/QuanergySystems/catkin_ws/devel_isolated/setup.bash
roslaunch quanergy_client_ros client.launch host:=<hostname_or_ip>

In a separate terminal, the following commands will show the output rate you are getting from your sensor.

source /opt/ros/noetic/setup.bash
rostopic hz /quanergy/points

Optional Configuration

To add ROS environment configuration automatically to every future bash session

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
echo "source ~/QuanergySystems/catkin_ws/devel_isolated/setup.bash" >> ~/.bashrc