Merge branch 'master' of https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub
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# pubsub - Publisher & Subscriber Package
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Publisher & Subscriber package as template package and source code.
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Publisher & Subscriber template package and source code.
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Created for ROS Workshop 2020
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Roverentwicklung für Explorationsaufgaben
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@ -35,7 +35,7 @@ Created by Patrick Winterhalder,
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* Clone repository: `git clone git://github.com/patrickw135/pubsub.git .` (include the . at the end)
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* Build workspace: `colcon build`
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__Note:__ Only the files inside _src/_ are of importance.
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* Remember to run `source ~/<workspace_path>/install/local_setup.sh` after every build. Best would be to [add this command to _.bashrc_](https://github.com/patrickw135/pubsub/blob/master/bashrc_addons.txt) which is run everytime you start a new console.
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* Remember to run `source ~/<workspace_path>/install/local_setup.sh` after every build. Best would be to [add this command to _.bashrc_](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/bashrc_addons.bash) which is run everytime you start a new console.
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## During Workshop
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@ -45,6 +45,5 @@ __Note:__ Only the files inside _src/_ are of importance.
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* `ros2 pkg create --build-type [ament_cmake, ament-python] <package_name>`
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* Go back up one layer: `cd ..`
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* Build workspace: `colcon build --symlink-install`
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* Add [this](https://github.com/patrickw135/pubsub/blob/main/bashrc_addons.txt) to end of .bashrc (`sudo nano .bashrc`), find all instances of "`~/ws_overlay_foxy`" and replace it with your local path to your colcon workspace
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* [Instruction](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md) on how to create a custom message to interface between nodes
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* Add [this](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/bashrc_addons.bash) to end of .bashrc (`sudo nano .bashrc`), find all instances of "`~/ws_overlay_foxy`" and replace it with your local path to your colcon workspace
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* Follow [these instructions](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/instructions_custom_topics.md) to create a custom message to define the interface between nodes
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@ -8,22 +8,22 @@ For this at least two packages will be required:
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The CMake package is required because the custom msg/srv/act files cannot be created inside the python package as this is not supported yet.
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__Table of Content__
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* [CMake Package (eg. /pubsub_msg)](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#cmake-package-eg-pubsub_msg)
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* [Create CMake Package](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#1-create-cmake-package)
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* [Create Message Files](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#2-create-message-files)
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* [Configure CMakeLists.txt](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#3-configure-cmakeliststxt)
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* [Configure package.xml](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#4-configure-packagexml)
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* [Build Package](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#5-build-package)
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* [Source newly built workspace](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#6-source-newly-built-workspace)
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* [Check functionality](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#7-check-functionality)
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* [Python Package (eg. /pubsub)](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#python-package-eg-pubsub)
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* [Create Python Package](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#1-create-python-package)
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* [Write Python Scripts](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#2-write-python-scripts)
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* [Configure package.xml](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#3-configure-packagexml)
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* [Build Package](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#4-build-package)
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* [Source newly built workspace](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#5-source-newly-built-workspace)
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* [Run scripts](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#6-run-scripts)
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* [Sources](https://github.com/patrickw135/pubsub/blob/master/instructions_custom_topics.md#sources)
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* [CMake Package (eg. /pubsub_msg)]()
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* [Create CMake Package]()
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* [Create Message Files]()
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* [Configure CMakeLists.txt]()
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* [Configure package.xml]()
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* [Build Package]()
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* [Source newly built workspace]()
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* [Check functionality]()
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* [Python Package (eg. /pubsub)]()
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* [Create Python Package]()
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* [Write Python Scripts]()
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* [Configure package.xml]()
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* [Build Package]()
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* [Source newly built workspace]()
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* [Run scripts]()
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* [Sources]()
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@ -50,7 +50,7 @@ This will result in an empty package structure:
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### 1. Create CMake Package
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* Move to your colcon workspace's src directory: `cd <workspace_path>/src`
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* (For example: `cd ~/colcon_ws/src`)
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* Create CMake package: `ros2 pkg create --build-type ament_cmake <package_name>
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* Create CMake package: `ros2 pkg create --build-type ament_cmake <package_name>`
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* (Here: `ros2 pkg create --build-type ament_cmake pubsub_msg`)
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@ -125,19 +125,19 @@ publishing #1: pubsub_msg.msg.CustomMsg2(pitch_ctrl=33.33, yaw_ctrl=0.5)..._
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## Python Package (eg. /pubsub)
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This package contains your scripts, programs and libraries. After building the workspace (`colcon build`) the custom messages are available to all other packages.
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This package can be created as a CMake (C++) package or as a python package depending on your coding preference.
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* C++: `ros2 pkg create --build-type ament-cmake <package_name>`
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* Python: `ros2 pkg create --build-type ament-python <package_name>`
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This package can be created as a CMake (C++) package or as a python package depending on your coding preference, e.g.
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* C++: `ros2 pkg create --build-type ament_cmake <package_name>`
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* Python: `ros2 pkg create --build-type ament_python <package_name>`
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<package_name> directory:
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* This directory contains your python scripts (eg. listener.py)
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* Also place the non-standard libraries in this directory and import the library in your python scripts
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* Also place non-standard libraries in this directory and import them in your python scripts
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### 1. Create Python Package
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* Move to your workspace's source directory: `cd <workspace_path>/src`
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* Create python package: `rps2 pkg create --build-type ament_python <pkg_name>`
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* Create python package: `ros2 pkg create --build-type ament_python <pkg_name>`
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### 2. Write Python Scripts
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When using custom interfaces in python scripts these must be imported into the python script first
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