minseokkim-0124 / ros2-seminar-examples

ROS 2 example packages for the ROS 2 seminar

ROS 2 example packages for the ROS 2 seminar

Travis CI (master)	Travis CI (develop)	Ament Lint

ROS 2 online seminar

• https://cafe.naver.com/openrt/24070

GitHub Action for ROS Lint

• .github/workflows/lint.yml

Travis option for CI

• .travis.yml

ROS 2 Distro

• ROS 2 Foxy Fitzroy - Patch Release 4

Build

$ cd ~/robot_ws/src
$ git clone https://github.com/robotpilot/ros2-seminar-examples.git
$ cd ~/robot_ws && colcon build --symlink-install

Run my_first_ros_rclpy_pkg package

$ ros2 run my_first_ros_rclpy_pkg helloworld_subscriber
$ ros2 run my_first_ros_rclpy_pkg helloworld_publisher

Run my_first_ros_rclcpp_pkg package

$ ros2 run my_first_ros_rclcpp_pkg helloworld_subscriber
$ ros2 run my_first_ros_rclcpp_pkg helloworld_publisher

Run topic_service_action_rclpy_example package

$ ros2 run topic_service_action_rclpy_example argument
$ ros2 run topic_service_action_rclpy_example operator
$ ros2 run topic_service_action_rclpy_example calculator
$ ros2 run topic_service_action_rclpy_example checker
$ ros2 run topic_service_action_rclpy_example checker -g 100
$ ros2 launch topic_service_action_rclpy_example arithmetic.launch.py

Run topic_service_action_rclcpp_example package

$ ros2 run topic_service_action_rclcpp_example argument
$ ros2 run topic_service_action_rclcpp_example operator
$ ros2 run topic_service_action_rclcpp_example calculator
$ ros2 run topic_service_action_rclcpp_example checker
$ ros2 run topic_service_action_rclcpp_example checker -g 100.0
$ ros2 launch topic_service_action_rclcpp_example arithmetic.launch.py

Run time_rclpy_example package

$ ros2 run time_rclpy_example time_example

Run time_rclcpp_example package

$ ros2 run time_rclcpp_example time_example

Run logging_rclpy_example package

$ ros2 run logging_rclpy_example logging_example

Run ros2env package

$ ros2 env
usage: ros2 env [-h] Call `ros2 env <command> -h` for more detailed usage. ...
Various env related sub-commands
optional arguments:
  -h, --help            show this help message and exit
Commands:
  list  Output a list of ROS environment variables
  set   Set ROS environment variables

$ ros2 env list -a
ROS_VERSION        = 2
ROS_DISTRO         = foxy
ROS_PYTHON_VERSION = 3
ROS_DOMAIN_ID      = 7
RMW_IMPLEMENTATION = rmw_fastrtps_cpp

Run rqt_example package

$ ros2 run rqt_example rqt_example
$ ros2 launch rqt_example turtlesim.launch.py

Run testbot_description package

$ ros2 launch testbot_description testbot.launch.py

Run tf2_rclpy_example package

$ ros2 run tf2_rclpy_example broadcaster
$ ros2 run tf2_rclpy_example listener
$ ros2 run tf2_rclpy_example static_broadcaster

$ rviz2 -d ${COLCON_WORKSPACE}/src/ros2-seminar-examples/tf2_rclcpp_example/rviz/arm.rviz

$ ros2 service call move std_srvs/srv/SetBool "data: false"

Run tf2_rclcpp_example package

$ ros2 run tf2_rclcpp_example broadcaster
$ ros2 run tf2_rclcpp_example listener
$ ros2 run tf2_rclcpp_example static_broadcaster

$ rviz2 -d ${COLCON_WORKSPACE}/src/ros2-seminar-examples/tf2_rclcpp_example/rviz/arm.rviz

$ ros2 service call move std_srvs/srv/SetBool "data: false"

Run colcon_test

$ colcon build --symlink-install
$ mkdir ~/robot_ws/test_result
$ colcon test --test-result-base ./test_result/