[PC_HOST]/[RPI] Codage avec ROS2
Les exemples ci-dessous reprennent ceux du tutoriel ROS2
Echange de messages en local ( C++ )
Creation d’un package
mkdir -p ~/ros2_ws/src # Creation d'un workspace ros2_ws
cd ~/ros2_ws/src
ros2 pkg create --build-type ament_cmake cpp_pubsub
Ecriture du publisher et du subscriber node
cd ~/ros2_ws/src/cpp_pubsub/src
wget -O publisher_member_function.cpp https://raw.githubusercontent.com/ros2/examples/humble/rclcpp/topics/minimal_publisher/member_function.cpp
wget -O subscriber_member_function.cpp https://raw.githubusercontent.com/ros2/examples/humble/rclcpp/topics/minimal_subscriber/member_function.cpp
Modification de package.xml
cd ~/ros2_ws/src/cpp_pubsub
nano package.xml
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>cpp_pubsub</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="kerhoas@enib.fr">kerhoas</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<!-- #################################################### -->
<depend>rclcpp</depend> <!-- A AJOUTER -->
<depend>std_msgs</depend> <!-- A AJOUTER -->
<!-- #################################################### -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
Modification de CMakeLists.txt
cd ~/ros2_ws/src/cpp_pubsub
nano CMakeLists.txt
cmake_minimum_required(VERSION 3.5)
project(cpp_pubsub)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
#######################################################################
find_package(rclcpp REQUIRED) # A AJOUTER
find_package(std_msgs REQUIRED) # A AJOUTER
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
add_executable(talker src/publisher_member_function.cpp) # A AJOUTER
ament_target_dependencies(talker rclcpp std_msgs) # A AJOUTER
add_executable(listener src/subscriber_member_function.cpp) # A AJOUTER
ament_target_dependencies(listener rclcpp std_msgs) # A AJOUTER
install(TARGETS # A AJOUTER
talker
listener
DESTINATION lib/${PROJECT_NAME})
#######################################################################
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
Build and Run
cd ~/ros2_ws
rosdep install -i --from-path src --rosdistro humble -y
colcon build --packages-select cpp_pubsub
. install/setup.bash
ros2 run cpp_pubsub talker
Dans un autre terminal :
cd ~/ros2_ws
. install/setup.bash
ros2 run cpp_pubsub listener
Clean
cd ~/ros2_ws
rm -rv install build log
Echange de messages en local ( Python )
Creation d’un package
mkdir -p ~/ros2_ws/src # Creation d'un workspace ros2_ws
cd ~/ros2_ws/src
ros2 pkg create --build-type ament_python py_pubsub
Ecriture du publisher et du subscriber node
cd ~/ros2_ws/src/py_pubsub/py_pubsub
wget https://raw.githubusercontent.com/ros2/examples/humble/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py
wget https://raw.githubusercontent.com/ros2/examples/humble/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py
Modification de package.xml
cd ~/ros2_ws/src/py_pubsub
nano package.xml
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>py_pubsub</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="kerhoas@todo.todo">kerhoas</maintainer>
<license>TODO: License declaration</license>
<!-- #################################################### -->
<exec_depend>rclpy</exec_depend> <!-- A AJOUTER -->
<exec_depend>std_msgs</exec_depend> <!-- A AJOUTER -->
<!-- #################################################### -->
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>
Modification de setup.py
cd ~/ros2_ws/src/py_pubsub
nano setup.py
from setuptools import setup
package_name = 'py_pubsub'
setup(
name=package_name,
version='0.0.0',
packages=[package_name],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='kerhoas',
maintainer_email='kerhoas@enib.fr',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'talker = py_pubsub.publisher_member_function:main', # A AJOUTER
'listener = py_pubsub.subscriber_member_function:main', # A AJOUTER
],
},
)
Build and Run
cd ~/ros2_ws
rosdep install -i --from-path src --rosdistro humble -y
colcon build --packages-select py_pubsub
. install/setup.bash
ros2 run py_pubsub talker
Dans un autre terminal :
cd ~/ros2_ws
. install/setup.bash
ros2 run py_pubsub listener
Clean
cd ~/ros2_ws
rm -rv install build log
RQT
rqt est une interface graphique permettant d’analyser le réseau ROS2.
rqt