rclex_examples

This repository offers the examples of Rclex, that is ROS 2 client library for Elixir.

Example lists

Each example project is located in a subdirectory. Please refer to the respective README for operating instructions.

• rclex_talker : simple talker on single node
• rclex_talkers : simple talkers on multiple nodes
• rclex_listener : simple listener on single node
• rclex_listeners : simple listeners on multiple nodes
• rclex_topic : pub/sub communication on the same node to single topics
• rclex_topics : pub/sub communication on multiple nodes to corresponding topics
• turtle_teleop_rclex : teleoperation for turtle_sim from the key input
• turtle_pose_phoenix : web visualizer for the location of turtle_sim

Environment

Currently, we have tested the operation of examples in the following environmet.

• Ubuntu 20.04.2 LTS (Focal Fossa)
• ROS 2 Foxy Fitzroy
• Elixir 1.13.4-otp-25
• Erlang/OTP 25.0.3
• Rclex v0.8.3

Please also refer to rclex documentation for more detail.

Quickstart

We also we provide rclex_docker environment to try out the examples right away. Let's get a quick start using the Docker environment!

$ cd your_woking_directry
$ git clone https://github.com/rclex/rclex_examples.git
$ cd rclex_examples/
$ docker compose run --rm rclex_docker /bin/bash
# inside container, change directory example one, this time `rclex_listener`
root@************:/# cd /root/rclex_examples/rclex_listener/
root@************:~/rclex_examples/rclex_listener# mix deps.get
...
# try example function
root@************:~/rclex_examples/rclex_listener# iex -S mix
iex(1)> RclexListener.subscribe_message

12:38:12.341 [debug] JobExecutor start

12:38:12.344 [debug] listener/chatter/sub subscriber process start

12:38:22.352 [debug] subscriber finished: listener/chatter/sub

12:38:22.353 [debug] finish node: listener
{:ok, #Reference<0.2781152389.209059862.173351>}