49 lines
2.8 KiB
Markdown
49 lines
2.8 KiB
Markdown
# pubsub - Publisher & Subscriber Package
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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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Institute for Space Systems
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University of Stuttgart.
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Created by Patrick Winterhalder,
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[IRS](https://www.irs.uni-stuttgart.de/en/), University of Stuttgart.
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## Workshop Prerequisites
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* Install [Ubuntu 20.04]()
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* Install Visual Studio Code using [Ubuntu Software](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). Do install _argcomplete_, no need for _ROS 1 bridge_ or _RMW implementations_.
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* Install and update _rosdep_:
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* `sudo apt install python3-rosdep2 -y`
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* `rosdep update`
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* (`sudo rosdep init`)
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* Work through ["Beginner: CLI Tools"](https://index.ros.org/doc/ros2/Tutorials/) tutorial
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* [Configuring your ROS 2 environment](https://index.ros.org/doc/ros2/Tutorials/Configuring-ROS2-Environment/):
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* Source setup files (underlay, overlay)
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* Configure .bashrc (shell startup script)
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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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* Cover turtlesim, rqt, topics, services, actions
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## Install Instructions
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* Move to colcon workspace: `cd <workspace_path>`
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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://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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* Create workspace:
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* Install [_colcon_](https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/#colcon): `sudo apt install python3-colcon-common-extensions -y`
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* Create packag inside _~/{workspace_name}/src_:
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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://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 |