dora/examples/c++-ros2-dataflow/README.md

• cxx-ros2-dataflow Example
• • Setup
  • Running turtlesim example

cxx-ros2-dataflow Example

This c++ 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

Running turtlesim example

From terminal 1 , sourcing the ROS2 installation and start ROS2 turtlesim window

source /opt/ros/galactic/setup.bash
ros2 run turtlesim turtlesim_node

From terminal 2 from dora folder. Note the source command here is necessary as this allow ROS2 message types to be found and compile dynamically.

source /opt/ros/galactic/setup.bash
cargo run --example cxx-ros2-dataflow --features ros2-examples

And you will see the turtle move a few steps.