cxx-ros2-dataflow Example
This c++ example shows how to publish/subscribe to both ROS2 and Dora. The dataflow consists of a single node that sends random movement commands to the ROS2 turtlesim_node.
Setup
This examples requires a sourced ROS2 installation.
- To set up ROS2, follow the ROS2 installation guide.
- Don't forget to source the ROS2 setup files
- Follow tasks 1 and 2 of the ROS2 turtlesim tutorial
- Install the turtlesim package
- Start the turtlesim node through
ros2 run turtlesim turtlesim_node
Running pub/sub example
A ROS2 client to publish turtlesim ROS2 messages and a DORA node can subscribe and visualize it.
From terminal 1 , sourcing the ROS2 installation and start ROS2 turtlesim window
source /opt/ros/galactic/setup.bash
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
ros2 run turtlesim turtlesim_node
From terminal 2 from dora folder. Note the source command here is necessary as this allow ROS2 message types to be found and compile dynamically.
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
source /opt/ros/galactic/setup.bash
cargo run --example cxx-ros2-dataflow --features ros2-examples
And you will see the turtle move a few steps.
Running service example
The current service code example is a service client. To test with service server we can test with either ROS2 demo or ros2-client
- if using ROS2 demo the the command line is:
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
ros2 run demo_nodes_cpp add_two_ints_server
start DORA service client from another terminal
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
cargo run --example cxx-ros2-dataflow --features ros2-examples
- if using ros2-client the command line is:
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
cargo run --example=ros2_service_server
then start DORA service client from another terminal
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
cargo run --example cxx-ros2-dataflow --features ros2-examples
You can also put export RMW_IMPLEMENTATION=rmw_fastrtps_cpp into .bashrc