triton_example

Description

This package serves as an example package displaying how to write component nodes to be used in the pipeline and also to show the style conventions that are expected to be followed.

Usage

Follow the usage of the triton_pipeline package with <SEQUENCE_CONFIG_FILE> = example_sequence.yaml which configures the pipeline to run the example pipeline 3 times. You can then use the following command to send data to the example pipeline and see output from each node in the same terminal where the pipeline_launch.py launch file was launched.

ros2 topic pub /triton/example/component_one/in std_msgs/String '{data: "Hello World"}'

You can also see the final output of the pipeline using the command

ros2 topic echo /triton/example/component_two/out

You should see the string "Hello World from ComponentOne and ComponentTwo" being output from the above command. Once this message is output 25 times, the second component notifies the pipeline manager that the example pipeline has been successfully run and it is unloaded from the pipeline. Since the pipeline sequence only contains the example pipeline, it is loaded again and the process of counting messages is started again.

Nodes

• component_one : A component node (triton_example::ComponentOne) which adds "from ComponentOne" to any string it recieves.

  ### Subscribed Topics

  • example/component_one/in (std_msgs/msg/String.msg) : Input string.

  ### Published Topics

  • example/component_one/out (std_msgs/msg/String.msg) : Output string.

• component_two : A component node (triton_example::ComponentTwo) which adds "and ComponentTwo" to any string it recieves. Also notifies pipeline of success once it recieves 25 string messages.

  ### Subscribed Topics

  • example/component_two/in (std_msgs/msg/String.msg) : Input string.

  ### Published Topics

  • example/component_two/out (std_msgs/msg/String.msg) : Output string.
  • /triton/pipeline_feedback (triton_interfaces/msg/PipelineFeedback.msg) : Pipeline feedback.

Contributors

• Logan Fillo (logan.fillo@gmail.com)