NativeTalkerListenerDemo

These demo programs are found in the native-posix build tree. For example, the talker and listener demos are found in build/native-posix/apps/talker/talker and build/native-posix/apps/listener/listener , respectively.

At time of writing, the talker and listener demos do not (yet) communicate with each other. However, they will communicate with OpenSplice, and we can demonstrate this by running an OpenSplice ROS2 "talker" and a FreeRTPS "listener" and vice versa.

Demo: OpenSplice ROS2 talker communicating with a FreeRTPS listener

Assuming there is a ROS2 workspace in ~/ros2_ws, let's start up the OpenSplice talker in one terminal:

cd ~/ros2_ws
source install/setup.bash
talker__rmw_opensplice_cpp

Now, let's start a FreeRTPS listener in another terminal:

cd ~/freertps
build/native-posix/apps/listener/listener

You should see "Hello, World" messages going from one terminal to the other. Hooray!

NOTE: this is broken. Need to fix it.

Demo: FreeRTPS talker communicating with an OpenSplice listener

Assuming there is a ROS2 workspace in ~/ros2_ws, let's start up the OpenSplice listener in one terminal:

cd ~/ros2_ws
source install/setup.bash
listener__rmw_opensplice_cpp

Now, let's start a FreeRTPS talker in another terminal:

cd ~/freertps
build/native-posix/apps/talker/talker

You should see "Hello, World" messages going from one terminal to the other. Hooray!

NOTE: this is broken. Need to fix it.