https://github.com/erio-harrison/ros2_basic
https://github.com/erio-harrison/ros2_basic
cpp ros2
Last synced: about 1 year ago
JSON representation
- Host: GitHub
- URL: https://github.com/erio-harrison/ros2_basic
- Owner: Erio-Harrison
- License: mit
- Created: 2024-03-13T05:48:34.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2024-11-19T05:02:37.000Z (over 1 year ago)
- Last Synced: 2025-04-12T00:53:31.644Z (about 1 year ago)
- Topics: cpp, ros2
- Language: C++
- Homepage:
- Size: 197 KB
- Stars: 2
- Watchers: 1
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: readme.md
- License: LICENSE
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README
# ROS2 Basic
The project I worked on recently will use ROS2, so I learned the basic usage. This is a project to demonstrate basic ROS2 functionality, including publisher and subscriber nodes
## Table of contents
- [Install](#Install)
- [Use](#Use)
- [Contribution](#Contribution)
## Install
[Tutotial Document](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html)
I tried to install it using windows, and another friend tried to install it using mac, but we all encountered problems during the "build". Then I finally chose to install Ubuntu on a virtual machine, and then connected it using SSH in VScode for programming. And it is easier to install.
## Use
1. Clone repository:
```bash
git clone https://github.com/Erio-Harrison/ros2_basic.git
```
Then:
```bash
cd ros2_basic
```
2. Install dependencies:
```bash
rosdep install --from-paths src --ignore-src --rosdistro iron -y
```
Here I installed the iron version. If use others, please replace "iron" with sepcific version name.
3. Build the workspace using "colcon":
```
colcon build
```
If we wanna build specific folder, use: `colcon build --packages-select `
For example:
```bash
colon build --packages-select node_demo
```
4. In a new terminal session, type this to use the newly built package:
```bash
source /opt/ros/iron/setup.bash
```
```bash
source install/setup.bash
```
Please note that every time we open a new terminal, we need to run this command.
If you don't want to do so. another way is trying to edit `.bashrc` file:
**First**
type
```bash
nano ~/.bashrc
```
in terminal
**Second**, Add the following lines at the end of the file:
```bash
source /opt/ros/iron/setup.bash
```
```bash
source ~/Desktop/ros2_basic/install/setup.bash
```
In order for these changes to take effect, you have two options:
**Effective immediately**: Run the following command in the current terminal to apply the changes immediately: `source ~/.bashrc`
**Reopen the terminal**: Close the current terminal and reopen a new terminal. Changes in `.bashrc` will be applied automatically.
5. Run the sample programs in the project: `ros2 run `
Example:
```bash
ros2 run node_demo node_02
```
Then we can see this:
Others can also be seen on images.
## Contribution
If anyone wants to add examples based on this, please directly apply for PR.