#ros2_components_demo

#I changed a lot of stuff in the ros2_components and haven't had time to update this demo yet

Demo for how to use ros2_components

Building on linux

0. Source a ros2 ws like described in:

https://github.com/ros2/ros2/wiki/Ament-Tutorial

1. Create a workspace

mkdir -p demo_ws/src/demo

2. Checkout repositories

cd demo_ws/src/demo
git clone https://github.com/firesurfer/ros2_components_msg
git clone https://github.com/firesurfer/ros2_components.git
git clone https://github.com/firesurfer/ros2_components_demo
git clone hhtps://github.com/firesurfer/ros2_simple_logger

Building with ament

cd ../../
ament build

Building with cmake

cd demo_ws/src/demoe/ros2_components_msg/
mkdir -p build
cd build 
ament build ..

cd demo_ws/src/demo/ros2_components_demo
#use nano or gedit or vim
nano CMakeLists.txt

uncomment this line:

#set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${CMAKE_CURRENT_SOURCE_DIR})

Then go back to the ros2_components repo

cd ../ros2_components
nano CMakeLists.txt

uncomment this line:

#set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${CMAKE_CURRENT_SOURCE_DIR})

mkdir build
cd build
cmake ..
make

Go to the ros2_components_demo repo

cd ../ros2_components_demo
mkdir build
cd build
cmake ..
make

Running the demo

In the build folder or if you build it with ament the build/ros2_components_demo folder you will find three executables

• demo_parameter_server
• demo_server
• demo_client

You need two be in a ros2 environment (see 0.)

1. Run the demo_parameter_server
2. Run the demo_server - It will create two DemoRobots with 100 DemoSensors
3. Run the demo_client - It will rebuild the two DemoRobots