Overview

This projects contains a publisher and subscriber node that publishes custom string message to a topic and the subscriber listens to the string published by the publisher node from the same topic.

Build/run steps

Create a workspace

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

Clone the repo into src folder

git clone https://github.com/guruadp/beginner_tutorials.git

Build the package

colcon build --packages-select cpp_pubsub

Source the terminal and run publisher with debug mode

. install/setup.bash
ros2 run cpp_pubsub talker --ros-args --log-level debug

Open a new terminal, source it and run subscriber with debug mode

. install/setup.bash
ros2 run cpp_pubsub listener --ros-args --log-level debug

• Running service client (change new_string_to_publish to the desired string want to publish)

ros2 run cpp_pubsub server_client <new_string_to_publish> --ros-args --log-level debug

Run with launch file

ros2 launch cpp_pubsub pubsub_launch.yaml freq:=1

rqt_console log output

Run tf2

. install/setup.bash
ros2 run cpp_pubsub talker

To echo and generate result pdf

ros2 topic echo /tf_static
ros2 run tf2_tools view_frames

Google Test

Building test

colcon test --packages-select cpp_pubsub

To check the status of the test cases

colcon test --event-handlers console_direct+ --packages-select cpp_pubsub

ROS Bag

To record run record command and then publisher node

ros2 launch cpp_pubsub bag_record_launch.py bag_record:=True
ros2 bag record /chatter
ros2 run cpp_pubsub talker

To check the recorded file info

ros2 bag info <generated_folder>

To play the recorded file and subscribe it

ros2 bag play <generated_folder>
ros2 run cpp_pubsub listener

Dependencies

ROS humble - To install follow the below link

http://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html