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Example packages on the ROS 2 host to communicate with mROS 2 nodes

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mros2-host-examples

This repository contains ROS 2 packages that can communicate with mros2, which is an agent-less and lightweight runtime environment for ROS 2 nodes onto embedded devices.

Please also check for more details about example applications on the embedded device.

mros2_echoreply_string

  • Description:
    • (The mros2 node on the embedded device publishes string (std_msgs::msg::String) message to /to_linux topic.)
    • The mros2_echoreply node on the host subscribes string (std_msgs::msg::String) message from /to_linux topic, and then its node publishes the message as it is to /to_stm topic.
    • (The mros2 node on the embedded device will subscribes the message as the echoback.)
  • Host operation:
    • $ ros2 run mros2_echoreply_string echoreply_node
  • mros2 application on the embedded device:

mros2_echoback_string

  • Description:
    • The pub_mros2 node on the host publishes string (std_msgs::msg::String) message to /to_stm topic.
    • (The mros2 node on the embedded device will echoreply this message as it is.)
    • The mros2_sub node on the host subscribes string message from /to_linux topic.
  • Host operation:
    • at first terminal: $ ros2 run mros2_echoback_string sub_node
    • and then, at second terminal: $ ros2 run mros2_echoback_string pub_node
    • or, at one terminal:
      • $ ros2 launch mros2_echoback_string pubsub.launch.py
  • mros2 application on the embedded device:

mros2_sub_float32

  • Description:
    • The mros2_sub node on the host subscribes float32 (std_msgs::msg::Float32) message from /to_linux topic.
  • Host operation:
    • $ ros2 run mros2_sub_float32 sub_node
    • or, $ ros2 launch mros2_sub_float32 sub.launch.py
  • mros2 application on the embedded device:

mros2_pub_uint16

  • Description:
    • The pub_mros2 node on the host publishes uint16 (std_msgs::msg::UInt16) message to /to_stm topic.
  • Host operation:
    • $ ros2 run mros2_pub_uint16 pub_node
    • or, $ ros2 launch mros2_pub_uint16 pub.launch.py
  • mros2 application on the embedded device:

mros2_sub_twist

  • Description:
    • The sub_twist node on the host subscribes Twist (geometry_msgs::msg::Twist) message from /cmd_vel topic.
  • Host operation:
    • $ ros2 run mros2_sub_twist sub_node
    • or, $ ros2 launch mros2_sub_twist sub.launch.py
  • mros2 application on the embedded device:

mros2_pub_pose

  • Description:
    • The pub_pose node on the host publishes Pose (geometry_msgs::msg::Pose) message to /cmd_vel topic.
  • Host operation:
    • $ ros2 run mros2_pub_pose pub_node
    • or, $ ros2 launch mros2_pub_pose launch.py
  • mros2 application on the embedded device:

mros2_sub_long_string_pub_crc

  • Description:
    • (The mros2 node on the embedded device publishes string (std_msgs::msg::String) message to /to_linux topic.)
    • The sub_long_string_pub_crc node on the host subscribes string (geometry_msgs::msg::String) message from /to_linux topic, and then its node publishes the CRC32 as a u_int32 (std_msgs::msg::UInt32) value to /to_stm topic.
  • Host operation:
    • $ ros2 run mros2_sub_long_string_pub_crc sub_long_string_pub_crc_node
    • or, $ ros2 launch mros2_sub_long_string_pub_crc subpub.launch.py
  • mros2 application on the embedded device:

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