achuthankrishna/ros2_gazebo_tut

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Dependencies:

• OS : Ubuntu 22.04
• ROS2 Distro : ROS2 Humble
• Package build type : ament_cmake
• Package dependencies : rclcpp, std_msgs
• ROS2 Humble Installation : link

Essential Packages

• Turtlebot3 Simulation for ros2: link

Instructions to build the ROS Package

• Soucrce ROS2

source /opt/tos/humble/setup.bash

• clone the repo in the ros2 workspace/src

rosdep install -i --from-path src --rosdistro humble -y

colcon build --packages-select ros2_gazebo_tut

Launch without rosbag

ros2 launch ros2_gazebo_tut ros2_world.launch.py

Launch with rosbag

ros2 launch ros2_gazebo_tut ros2_world_rbag.launch.py

• The ros bag file will be saved in the results folder

RosBag Check

• Go to the destination

cd ./src/ros2_gazebo_tuts/results/Bags

To play the ros bag , just type

ros2 bag play Bags_0.db3

Simultaneously you can open another terminal and hit

ros2 topic list

select any topic and just echo it to find the recordings.

cppcheck

cppcheck --enable=all --std=c++17 ./src/*.cpp --suppress=missingIncludeSystem --suppress=unmatchedSuppression --suppress=unusedFunction --suppress=missingInclude --suppress=useInitializationList > results/cppcheck.txt

cpplint

 cpplint --filter=-build/c++11,+build/c++17,-build/namespaces,-build/include_order ./src/*.cpp ./include/*.hpp > ./results/cpplint.txt