ROS_2_ANDROID

Receiving and publishing data from Android via ROS 2

Once you have one Android application sending data via socket, you will be able to publish (talker) and subscriber (listener) via ROS 2. In this repository, you can find a simple Android application to use as example.

The video tutorial is available here.

Dependencies:

• ROS 2 (dashing)

Clonning the repository

cd $HOME
git clone https://github.com/mirellameelo/ROS_2_ANDROID.git

Debug step (optional)

1) Open your Android Studio 2) Open the project “my_places” 3) Go to app->java->com.example.myplaces->MainActivity and CHANGE the IP to your computer IP (you can verify it when running ifconfig in the terminal) 4) Run the application in your phone 5) Open the terminal and run:

cd $HOME/ROS_2_ANDROID/src
./a.out

Now, every time you click the connection button, you’ll be able to see a variable incrementing. This indicates that the socket connection its working fine, and you’re able to go to the next steps.

Building ROS 2 package

Open the terminal and source the ROS:

source /opt/ros/dashing/setup.bash

# Build the packages
cd $HOME/ROS_2_ANDROID 
colcon build --packages-select cpp_pubsub

ROS 2 and Android communication

Step 1: runnning the Android application in your phone

1) Open your Android Studio 2) Open the project “my_places” 3) Go to app->java->com.example.myplaces->MainActivity and CHANGE the IP to your computer IP (you can verify it when running ifconfig in the terminal) 4) Run the application in your phone

Step 2: runnning the talker and listener

Open two terminals and source the cpp_pubsub setup file in both.

source $HOME/ROS_2_ANDROID/install/setup.bash

Terminal_1: Run the talker

#run the talker
ros2 run cpp_pubsub talker

The publisher now is waiting for data comming via Socket. Terminal_2: Run the listener

# run the listener
ros2 run cpp_pubsub listener