dora-rs
/
dora
Not watched
1
0
Fork 0
Code
Releases 124 Wiki evaluate Activity
Issues 0 Pull Requests 0 Datasets Model Cloudbrain HPC
You can not select more than 25 topics Topics must start with a chinese character,a letter or number, can include dashes ('-') and can be up to 35 characters long.
Branch: main
Branches Tags
${ item.name }
Create branch ${ searchTerm }
from 'main'
${ noResults }
dora/examples/rust-ros2-dataflow/README.md

1.4 kB
Raw Permalink Blame History

rust-ros2-dataflow Example

This example shows how to publish/subscribe to both ROS2 and Dora. The dataflow consists of a single node that sends random movement commands to the ROS2 turtlesim_node.

Setup

This examples requires a sourced ROS2 installation.

  • To set up ROS2, follow the ROS2 installation guide.
  • Don't forget to source the ROS2 setup files
  • Follow tasks 1 and 2 of the ROS2 turtlesim tutorial
    • Install the turtlesim package
    • Start the turtlesim node through ros2 run turtlesim turtlesim_node
  • In a separate terminal, start the /add_two_ints service: ros2 run examples_rclcpp_minimal_service service_main

Running

After sourcing the ROS2 installation and starting both the turtlesim node and the /add_two_ints service, you can run this example to move the turtle in random directions:

cargo run --example rust-ros2-dataflow --features ros2-examples

You should see a few random requests in the terminal where you started the examples_rclcpp_minimal_service.