Workspace Setup
Make sure you have ROS 2 installed on Ubuntu before continuing (Guide).
Navigate to where you want your workspace directory. I have mine in ~/mate-rov/22-23.
Run:
mkdir -p bootcamp_ws/src
Read more about ROS package naming conventions?
Run:
cd bootcamp_ws/src
git clone https://github.com/cwruRobotics/rov-23-bootcamp.git .
Get back to your main workspace folder:
cd ..
It's best practice to check your dependencies before building:
sudo apt install python3-rosdep2
rosdep update
rosdep install -i --from-path src --rosdistro galactic -y
Build!
sudo apt install python3-colcon-common-extensions
colcon build --symlink-install
The interfaces package contains service (srv) and message (msg) files, which describe data structures that may be published (messages) or
sent/received as part of a service.
In a new terminal, navigate to your workspace folder by running cd bootcamp_ws. If you put your bootcamp_ws in some other directory, you'll need to type whatever path you chose instead of just bootcamp_ws.
Now source your workspace "overlay" with:
. install/setup.sh
View the descriptions of the interfaces:
ros2 interface show interfaces/msg/Num
ros2 interface show interfaces/msg/Sphere
ros2 interface show interfaces/srv/AddThreeInts
The pubsub package contains a minimal publisher and subscriber to the topic topic.
In the same terminal where you sourced your workspace, start up the publisher:
ros2 run pubsub talker
Leave the talker running. In a new terminal, navigate to your workspace directory then source your overlay again:
. install/setup.sh
Then run the subscriber:
ros2 run pubsub listener
You should see the talker publishing sequential numbers and the listener receiving them.
The service package contains a minimal service server and client.
In the terminal where you ran the talker, press Ctrl+C to stop the talker. Then run the service server:
ros2 run service service
In the terminal where you ran the listener, press Ctrl+C to stop the listener. Then run the service client:
ros2 run service client 1 2 3
You should see a response from the server that sums 1, 2 & 3.
Explore? Read some code? Then: customize the example packages.
