59 lines
4.0 KiB
Markdown
59 lines
4.0 KiB
Markdown
# pubsub - Publisher & Subscriber Package
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Minimal Publisher & Subscriber Template for ROS2.
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```
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Created for ROS Workshop 2020
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Course Roverentwicklung für Explorationsaufgaben
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Institute for Space Systems
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University of Stuttgart.
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```
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Created by Patrick Winterhalder,
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[IRS](https://www.irs.uni-stuttgart.de/en/institute/team/Winterhalder/), University of Stuttgart.
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## Workshop Prerequisites
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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!
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* Install [Ubuntu 20.04](https://help.ubuntu.com/lts/installation-guide/index.html)
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* Install Visual Studio Code using the [Ubuntu Software Installer](https://wiki.ubuntuusers.de/Ubuntu_Software/)
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* Install [Git](https://linuxconfig.org/how-to-install-git-on-ubuntu-20-04-lts-focal-fossa-linux) (no account required yet)
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* Install [ROS2](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/) ("desktop" on PC, "base" on Raspberry Pi).
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* Also install _argcomplete_
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* No need for _ROS 1 bridge_ or _RMW implementations_
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* Install and update _rosdep_
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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/):
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* Source setup files (Understand **Underlay** & **Overlay**)
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* 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)
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* Add colcon_cd to .bashrc (shell startup script)
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* Check environment variables (check for correct installation)
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* Configure *ROS_DOMAIN_ID* (DDS Network Number)
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* Work through the tutorials covering _turtlesim, rqt, topics, services, actions_
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## Install Instructions
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* Move to your colcon workspace `cd <workspace_path>` (eg. `cd ~/colcon_ws`)
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* Clone this repository: `git clone https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub.git .` (include `.` at the end of the command !!)
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* Build workspace: `colcon build` , __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.
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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.
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This is also handy if you are working with multiple colcon workspaces (overlays) simultaneously.
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## Workshop Content
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In this workshop you will:
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* Create a new colcon workspace
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* Create a new package inside you new colcon workspace
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* `ros2 pkg create --build-type [ament_cmake, ament-python] <package_name>`
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* Build your workspace, this means making it a functional ROS2 workspace from which you can start nodes:
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* First move to your workspace root: `cd ~/<workspace_path>`
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* Run `colcon build --symlink-install`
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* Add your newly created workspace to source everytime you open a new console (.bashrc):
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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`)
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* 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)
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* 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).
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## Presentation
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The workshop's content is covered in [this presentation](). |