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ROS 2 Simple Talker (Python)

Introduction

This project implements a simple ROS 2 talker, derived from Writing a simple publisher and subscriber (Python).

The differences to this template project are:

  • ROS 2 runtime functions are provided by the ros2-base snap, which must be preinstalled on the ctrlX.
  • The project files are packed into a snap.

See also:

Implementation

  • The directory structure is according colcon packages.
  • In setup.py and setup.cfg the colcon package is defined.
  • The one and only Python script is main_minimal_subscriber.py, stored in the directory src/listener/listener/
  • It contains the main function and a class MinimalSubscriber, derived from rclpy.node.Node
  • snap/snapcraft.yaml defines which files are packed into the snap.

Build Process

To build a snap run

./build-snap-amd64.sh

The script contains following build steps:

  1. Build the colcon package:

    colcon build

  2. Clean the snapcraft helper directories:

    snapcraft clean --destructive-mode

  3. Update helper directories and build the snap:

    snapcraft --destructive-mode

Hint: To keep the project simple the arm64-cross-build is not supported.

Installation and Test

The ros2-base snaps must already be installed.

Install the created snap on ctrlX OS.

It publishes at the ROS 2 topic MinimalPublisher.

The output can be checked with:

sudo snap logs -f ros2-simple-talker

Build, install and test

With following command you can combine the build, installation and test steps - here the target is a ctrlX COREvirtual with port forwarding.

../../../public/scripts/build-upload-log-snap.sh -PF

About

SPDX-FileCopyrightText: Copyright (c) 2023 Bosch Rexroth AG

https://www.boschrexroth.com/en/dc/imprint/

Licenses

SPDX-License-Identifier: MIT