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# pubsub - Publisher & Subscriber Package # pubsub - Publisher & Subscriber Package
Minimal Publisher & Subscriber Template for ROS2. Minimal Publisher & Subscriber Template for ROS2.
``` ```
Created for ROS Workshop 2020 Created for ROS Workshop 2020
Course Roverentwicklung für Explorationsaufgaben Course Roverentwicklung für Explorationsaufgaben
Institute for Space Systems Institute for Space Systems
University of Stuttgart. University of Stuttgart.
``` ```
Class Code created by [Patrick Winterhalder](https://www.irs.uni-stuttgart.de/en/institute/team/Winterhalder/),
Created by Patrick Winterhalder, [IRS](https://www.irs.uni-stuttgart.de), University of Stuttgart.
[IRS](https://www.irs.uni-stuttgart.de/en/institute/team/Winterhalder/), University of Stuttgart.
## Workshop Prerequisites ## Workshop Prerequisites
For the workshop to be conducted on your Ubuntu 20.04 (64 bit) you must conduct [this installation for desktop machines](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/workshopinstall.sh) or [this installation for the Raspberry Pi](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/rpi_install.bash). Go through the bash commands (console) step by step! In order to run ROS2 you must install **Ubuntu 20.04 LTS** on a capable machine (preferrably desktop/laptop) first.
* Install [Ubuntu 20.04](https://help.ubuntu.com/lts/installation-guide/index.html) * Install [Ubuntu 20.04](https://help.ubuntu.com/lts/installation-guide/index.html)
For a successful workshop you must conduct [this installation on your desktop machine](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/workshopinstall.sh) or [this installation on your Raspberry Pi](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/rpi_install.bash). Go through the commands of these *.bash file line by line and check if every commands finishes without errors! Following these .bash files should do the following:
* Install Visual Studio Code using the [Ubuntu Software Installer](https://wiki.ubuntuusers.de/Ubuntu_Software/) * Install Visual Studio Code using the [Ubuntu Software Installer](https://wiki.ubuntuusers.de/Ubuntu_Software/)
* Install [Git](https://linuxconfig.org/how-to-install-git-on-ubuntu-20-04-lts-focal-fossa-linux) (no account required yet) * Install [Git](https://linuxconfig.org/how-to-install-git-on-ubuntu-20-04-lts-focal-fossa-linux) (no account required yet)
* Install [ROS2](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/) ("desktop" on PC, "base" on Raspberry Pi). * Install [ROS2](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/) (choose "desktop" on PC or "base" on Raspberry Pi, this eliminates all GUI tools from the installation, e.g. rviz and rqt).
* Also install _argcomplete_ * Also install _argcomplete_
* No need for _ROS 1 bridge_ or _RMW implementations_ * No need for _ROS 1 bridge_ or _RMW implementations_
* Install and update _rosdep_ * Install and update _rosdep_
After a successful installation of ROS2 you should get to know it by working through the ["Beginner: CLI Tools"](https://index.ros.org/doc/ros2/Tutorials/) tutorial. This will teach you how to [configure your ROS 2 environment](https://index.ros.org/doc/ros2/Tutorials/Configuring-ROS2-Environment/): After successfully installing ROS2 you should get to know it by working through the ["Beginner: CLI Tools"](https://index.ros.org/doc/ros2/Tutorials/) tutorial. This will teach you how to [configure your ROS 2 environment](https://index.ros.org/doc/ros2/Tutorials/Configuring-ROS2-Environment/) and you will learn about:
* Source setup files (Understand **Underlay** & **Overlay**)
* Configure .bashrc file (shell startup script), a good example is [here](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/rpi_install.bash), line 50-95) * Source setup files (understand **Underlay** & **Overlay**)
* Add colcon_cd to .bashrc (shell startup script) * Configure .bashrc file (shell startup script), a good example is [here](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/rpi_install.bash), line 50-95)
* Add all _colcon_ workspaces to the shell startup script
* Check environment variables (check for correct installation) * Check environment variables (check for correct installation)
* Configure *ROS_DOMAIN_ID* (DDS Network Number) * Configure *ROS_DOMAIN_ID* (DDS Network Number)
* Work through the tutorials covering _turtlesim, rqt, topics, services, actions_ * Work through the tutorials covering _turtlesim, rqt, topics, services, actions_
## Install Instructions ## Install Instructions
The following steps describe how you can create a local copy of this repository containing ROS2 publisher and subscriber class templates.
* Move to your colcon workspace `cd <workspace_path>` (eg. `cd ~/colcon_ws`) * Move to your colcon workspace `cd <workspace_path>` (eg. `cd ~/colcon_ws`)
* Clone this repository: `git clone https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub.git .` (include `.` at the end of the command !!) * Clone this repository: `git clone https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub.git .` (include `.` at the end of the command in oder to copy everything to this locations!)
* Build workspace: `colcon build` , __Note:__ Only the files inside _/src/_ are of importance. * Build workspace: `colcon build` , __Note:__ Only the files inside _/src/_ are of importance.
* Remember to run `source ~/<workspace_path>/install/local_setup.sh` after every build. * Remember to run `source ~/<workspace_path>/install/local_setup.sh` after every build.
In order to prevent this repetitive command add [this command to _.bashrc_](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/bashrc_addons.bash) (line 22-32). This runs everytime you start a new console. In order to avoid this repetitive command, add line 22-32 from [_.bashrc_](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/nonros-files/bashrc_addons.bash) to your shell startup script. This script runs everytime you start a new console, thus loading your overlays automatically. This is very handy if you are working with multiple colcon workspaces (overlays) simultaneously.
This is also handy if you are working with multiple colcon workspaces (overlays) simultaneously.
## Workshop Content ## Workshop Content
In this workshop you will: In this workshop you will:
* Create a new colcon workspace * Create a new _colcon_ workspace
* Create a new package inside you new colcon workspace * Create a new package inside your newly created _colcon_ workspace
* `ros2 pkg create --build-type [ament_cmake, ament-python] <package_name>` * `ros2 pkg create --build-type [ament_cmake, ament-python] <package_name>`
* Build your workspace, this means making it a functional ROS2 workspace from which you can start nodes: * Build your _colcon_ workspace, this means making it a functional ROS2 workspace from which you can start nodes:
* First move to your workspace root: `cd ~/<workspace_path>` * First move to your workspace root: `cd ~/<workspace_path>`
* Run `colcon build --symlink-install` * Run `colcon build --symlink-install`
* Add your newly created workspace to source everytime you open a new console (.bashrc): * Add your workspace overlay to the shell startup script for sourcing everytime you open a new console:
* Add [this](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/bashrc_addons.bash) to end of .bashrc (`sudo nano .bashrc`) * Add [this](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/bashrc_addons.bash) to the end of .bashrc (`sudo nano .bashrc`)
* In the template above find all instances of "`~/ws_overlay_foxy`" and replace it with your path to your colcon workspace (keep the home directory variable `$HOME` as this indicates `~/` in bash script) * In [this template](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/bashrc_addons.bash) find all instances of "`~/ws_overlay_foxy`" and replace it with the path to your own _colcon_ workspace (replace `~/` with `$HOME` for representing the home directory variable in bash scripts)
* Create a custom message (*.msg) in order to define custom interfaces between nodes by following these following [these instructions](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/instructions_custom_topics.md). * Create a custom ROS message (*.msg) in order to define custom topics to exchange information between nodes by following [these instructions](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/instructions_custom_topics.md).
## Presentation ## Presentation
The workshop's content is covered in [this presentation](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/ws-05-ros-workshop%20%281%29.pdf). The workshop's content is covered in [this presentation](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/ws-05-ros-workshop%20%281%29.pdf).