ROS2-service-for-MST

Description:

This repository contains a ROS2 service for searching the minimum spanning tree of the graph. The Request message contains string: sequence of edges in form «X-Y», where X and Y are nodes of thegraph. Elements are separated with whitespace. Response message contains string with edges of the tree in form «A-B B-C etc.»

example:

Request String «A-B A-C B-E E-C E-D E-H D-F D-G G-H»

Response String «A-C C-E E-B E-H E-D D-F D-G»

Algorithm:

In order to find the MST for a given graph we have used Kruskal’s Minimum Spanning Tree algorithm and we used C++ for coding. for more details about the algorithm you can check this Link

In order to run the code in your device you can follow the following steps:

1- pull offical docker container for ros2 foxy

  $  docker pull osrf/ros:foxy-desktop

2- download my worksapce

$  git clone https://github.com/SibaIssa/ROS2-service-for-MST.git

3- enter docker

$  sudo docker run -it -v <dir_to_cloned_repo>/ROS2-service-for-MST/task_ws:/home/usr/Task --name mydocker osrf/ros:foxy-desktop

4- go to folder

$ cd home/usr/Task

5- build work space

$  colcon build --packages-up-to mst_srvcli

6- source for our terminal and other terminals

$ source /home/usr/Task/install/setup.bash && source /opt/ros/foxy/setup.bash

$ echo "source /home/usr/Task/install/setup.bash" >> ~/.bashrc && echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc

7- open another terminals

$ sudo docker exec -ti mydocker bash

• In case of source permission denied use the following

$ source home/usr/Task/install/setup.bash

8- Terminal 1

$  ros2 run mst_srvcli server

9- Terminal 2

$  ros2 run mst_srvcli client

• Enter the graph

  A-B A-C B-E E-C E-D E-H D-F D-G G-H #your graph

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note: for any inconvenience you can close the docker by using the following statement, then do the steps again:

sudo docker rm -f mydocker