ROS2 Practice Example

This repository is for practicing some ros2 feature.
The publisher and subscriber of three different sensors are implemented.
The publisher is written in C++ and the subscriber is written in Python for eaiser usage of matplotlib visualization.
Each example contains some demonstrations:

• Temperature Sensor
  • Publish simulated temperature of gaussian distribution
  • Using custom message type
  • Visualize received data with matplotlib
• Speed Sensor
  • Publish simulated speed with gaussian noise
  • Using geometry_msgs/Twist message type
  • Visualize received data with turtlesim and matplotlib
• Laser Sensor
  • Parse and publish pre-recored rosbag2 data
  • Using sensors_msgs/LaserScan message type
  • Visualize message data with RVIZ

Environment

Ubuntu 20.04 (on Windows11 wsl2)
ROS2 foxy

File Structure

├── data_processor # Sensors subscriber and visualization tools  
│   ├── data_processor  
│   │   └── utils  
│   ├── launch  
│   ├── resource  
│   ├── rviz # Rviz config file  
│   └── test 
├── sensor_interfaces # Custom temperature sensor data  
│   ├── include  
│   │   └── sensor_interfaces 
│   ├── msg  
│   └── src  
└── sensors  # Sensors publisher and launch file  
    ├── include  
    │   └── sensors  
    ├── laser_test_data # Test data for laser sensor 
    ├── launch  
    └── src  

Build

Clone project into src of ros2 workspace

cd {ros2_workspace}/src
git clone https://github.com/longhongc/ros2-practice-example.git

Go back to ros2 workspace and build

cd {ros2_workspace}
colcon build

Run

Temperature Sensor

Run nodes seperately

ros2 run sensors temp_publisher  
ros2 run data_processor temp_subscriber 

Launch all nodes

ros2 launch sensors temp.launch

Speed Sensor

Run nodes seperately

ros2 run sensors speed_publisher  
ros2 run data_processor speed_subscriber 

Launch all nodes

ros2 launch sensors speed.launch

Laser Sensor

Run nodes seperately

ros2 run sensors laser_publisher  
ros2 run data_processor laser_subscriber 

Launch all nodes

ros2 launch sensors laser.launch