sharmithag / beginner_tutorials

beginner_tutorials

Overview

Basic publisher and subcriber implementation in ROS2 Foxy

Requirements

• Ubuntu 20.04 LTS and ROS2 Foxy
• rosdep

Building the package

source /opt/ros/foxy/setup.bash

Clone the repository in src of ros workspace

git clone https://github.com/sharmithag/beginner_tutorials.git
cd beginner_tutorials/
mv cpp_pubsub/ ~/<YOUR ROS2 WS FOLDER>/src
mv string_srv/ ~/<YOUR ROS2 WS FOLDER>/src

cd ~/<YOUR ROS2 WS FOLDER>/src

Use colcon to build the package.

cd ..

colcon build --packages-select string_srv
colcon build --packages-select cpp_pubsub

Implementation

default timer rate is 100ms

. install/setup.bash
ros2 launch cpp_pubsub cpp_pubsub.yaml freq:=200

In other terminal(Ctrl+Shift+t) - FOR CHANGING BASE STRING

. install/setup.bash
ros2 service call /service_topic string_srv/srv/Change

In other terminal(Ctrl+Shift+t) - FOR CHECKING tf topic

. install/setup.bash
ros2 run tf2_ros tf2_echo world talk

In other terminal(Ctrl+Shift+t) - FOR CHECKING tf topic frames

. install/setup.bash
ros2 run tf2_tools view_frames.py

In other terminal(Ctrl+Shift+t) - FOR Testing

. install/setup.bash
ros2 run cpp_pubsub test_cpp

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

Launch file for rosbag record

. install/setup.bash
ros2 launch cpp_pubsub cpp_pubsub.py

RQT_CONSOLE