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dora/examples/rust-ros2-dataflow
Philipp Oppermann db03eedc7b
Add example for ROS2 service server using `ros2-client` crate 		1 year ago
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node Add example for ROS2 service server using `ros2-client` crate 1 year ago
README.md Update `rust-ros2-dataflow` example with ROS2 service call 1 year ago
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README.md

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.

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DORA (Dataflow-Oriented Robotic Architecture) is middleware designed to streamline and simplify the creation of AI-based robotic applications. It offers low latency, composable, and distributed datafl

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