ROS2 Sample Project

Components for ROS2 Sample Project

Documentation

Documentation is available under doc folder:

• ros2: documentation of components written for ROS2 (humble version)
• usecase: some sequence diagrams to depict the relation of components
• doxygen: components documented using doxygen (https://www.doxygen.nl/).

The doxygen documentation can be compiled in /doc/doxygen folder, using

doxygen doc/Doxyfile 

It can be viewed using /doc/doxygen/html/index.html

TL;DR

Dependencies

ROS 2

ROS 2 installation guide

ROS 2 DDS tuning

# in ubuntu, before you should enable multiverse repository

# Build deps
apt install python3-colcon-common-extensions python3-vcstool python3-rosdep ros-humble-irobot-create-msgs

# Cyclone DDS
apt install ros-humble-cyclonedds ros-humble-rmw-cyclonedds-cpp

Add in your .profile or .bashrc:

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# ATTENTION: change path according with your OS.
# Substitute $BASE_PATH with the base path of your repository
export CYCLONEDDS_URI=$BASE_PATH/config/cyclone-dds-interface-select-laptop.xml

FCPP

Follow instructions on fcpp repository

Install

You should now run install script to build all components:

# Remember: you have to insert the password of your sudoers user only the first time you used the script.
./PoC/installer.sh

The script will list the components that need to be compiled to run, enter the folders and follow compilation instructions.

Run

To launch a simulation execute from the root of the repository:

Simulation

You can use enable or disable automatic dock after reaching goal.
$DOCK can be 0 (disable), 1 (enable).

./PoC/rumbo_library_run.sh dock_enabled:=$DOCK

AP Engine

To compile and execute the AP engine , you should:

• follow instructions on /PoC/AP_Engine/README.MD
• or run on a new terminal window (but with logs deleted after each round):

cd PoC/AP_Engine
./ap_run.sh

You can also pass as first argument (true or false) to clean build directory, as below:

cd PoC/AP_Engine
./ap_run.sh true

Use case

Goal

To create a new goal with X=$POS_X, Y=$POS_Y, YAW=$ORIENT (all coordinates are float values), you can run:

cd Storage
./create_goal.sh "$POS_X;$POS_Y;$ORIENT"

example:

./create_goal.sh "1.0;2.0;3.14"

Abort

To abort a current goal with ID=$GOAL_CODE, you can run:

cd Storage
./create_abort.sh $GOAL_CODE

example:

./create_abort.sh GOAL-123456789