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Testing

Simple ROS2 Helloworld Testing

Source ROS2 environment:

source /etc/profile.d/ros/setup.bash

List installed packages and executables:

ros2 pkg list
ros2 pkg executables

To run the simple Hello World examples:

ros2 run ros2-helloworld-cpp main
ros2 run ros2_helloworld_python helloworld

To exit the program, either CTRL + C or send 0x0A03 (Number) to serial console.

ROS2 Perception Node

SSH into the target device and run simulation:

source /etc/profile.d/ros/setup.bash
DISPLAY=:0 GAZEBO_RESOURCE_PATH="/usr/share/gazebo-11:/usr/share/OGRE/Media/ShadowVolume" ros2 launch perception_2nodes simulation.launch.py headless:='True'

Open another terminal. Then, run Rectify and Resize example on the target device:

source /etc/profile.d/ros/setup.bash
DISPLAY=:0 GAZEBO_RESOURCE_PATH="/usr/share/gazebo-11:/usr/share/OGRE/Media/ShadowVolume" ros2 launch perception_2nodes trace_rectify_resize.launch.py

On host, allow X11 forwarding from local non-network connections:

xhost +local:

Then execute the following command:

podman run -it --rm \
    -e DISPLAY=$DISPLAY \
    --device=/dev/dri \
    --network=host \
    --userns="keep-id:uid=1000,gid=1000" \
    --security-opt label=disable \
    --name=ros2-workstation \
    localhost/extra2000/ros2-gazebo11-classic:latest \
    bash
source /opt/ros/humble/setup.bash
rqt

Open another terminal and execute the following command:

podman exec -it ros2-workstation bash
source /opt/ros/humble/setup.bash
GAZEBO_MASTER_URI=http://TARGET_MACHINE:11345 gzclient --verbose

NOTE: Replace the TARGET_MACHINE according to your target device IP address or FQDN.

Known Issues

Python examples are broken at the moment due to Yocto Langdale uses Python3 Setuptools v65.0.2. See entry_points install path is now 'bin' instead of 'lib' for setup.py installs issue. The examples only work with Yocto Honister which uses Python3 Setuptools v57.4.0.