anukritisinghh/ros_beginner_tutorial

example to run publisher and subscriber in ROS2 humble

ENPM808X - Week 9 Assignment : ROS2 Package for simple Publisher / Subscriber

Overview and Description

An example of Publisher/Subscriber package for ROS2 written in C++

Author

Anukriti Singh - MEng Robotics

Assumptions and Dependencies

ROS2 Humble package is created and tested on ubuntu 20.02 (Linux). The colcon build is used for building the package. To run, build and source ROS2 Humble

To build the package

In new tutorial:

mkdir ros2_ws/src
cd ros2_ws/src
git clone <repo>
cd ..
source <path to ros2 setup>/install/setup.bash    
colcon build
source install/setup.bash

For publisher in new terminal:

cd ros2_ws
source <path to ros2 setup>/install/setup.bash    
source install/setup.bash
ros2 run cpp_pubsub talker

Parallely open new terminal:

cd ros2_ws
source <path to ros2 setup>/install/setup.bash    
source install/setup.bash
ros2 run cpp_pubsub listener

Service

ros2 run cpp_srvcli server

Client

ros2 run cpp_srvcli client 2 3

Launch

cd launch
ros2 launch my_launch.yaml

To run Cpplint

cd ros2_ws/src
run_cpplint.sh

To run Cppcheck

cd ros2_ws/src/
run_cppcheck.sh

Logging

• Invoke rqt console GUI

rqt_console

rqt_graph