PLEASE NOTE: This project is now developed under the ROSiE-PROJECT organisation.

This repository is no more mantained.

[OLD] ROSIE

Prototype for a ROS2 implementation in pure Erlang.

Requirements:

Erlang OTP 23 as minimum
ROS2 galactic

Note: The current implementation has only been tested against Cyclone-dds. If you are using a different middleware for ROS2 you could experience crashes.

Build

$ rebar3 compile

Tests against ROS2

listener

rebar3 shell --apps listener
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run demo_nodes_py talker

talker

rebar3 shell --apps talker
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run demo_nodes_py listener

Turtle controller

Write commands on the shell to send them to the turtle on the screen.

# LAUNCH:
rebar3 shell --apps turtle_controller
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run turtlesim turtlesim_node
# USE:
turtle ! go.
turtle ! back.
turtle ! right.
turtle ! left.