ROS2 Eloquent Workspace

This ROS2 eloquent workspace is created on Ubuntu 18.04. Here I have worked on some moveit2 related projects.

Table of content

• Installation
• Package description
• Helper scripts
• Team
• Contributing
• FAQ
• Support
• License
• Acknowledgments

Installation

All the code required to get started

• Prerequisite

  • You should have ROS2 eloquent on your ubuntu 18.04.
  • All ROS dependency is satisfied.

• Clone

    git clone https://github.com/iamrajee/ros2eloquent_moveit_ws.git
    

• Setup

    cd ros2eloquent_moveit_ws/
    ./refresh.sh
    make
    

Package description

• moveit2

  It is package about usage moveit2 for motion planning,

  • Run

        ros2 launch run_moveit_cpp run_moveit_cpp2.launch.py
        

• moveit_task_constructor

  It is package about moveit_task_constructor for motion planning, #### Run

    ros2 launch moveit_task_constructor plan_pick
    

    ros2 launch moveit_task_constructor test_plan_current_state
    

    ros2 launch moveit_task_constructor test_plan_gripper
    

    ros2 launch moveit_task_constructor test_plan_generate_grasp_pose
    

• cpp_pubsub

  It is package about: cpp pub sub

  Terminal 1:

    $ ros2 run cpp_pubsub talker
    

Terminal 2:

    $ ros2 run  cpp_pubsub listener
    

• py_pubsub

  It is package about: python pub sub

  Terminal 1:

    $ ros2 run py_pubsub talker
    

Terminal 2:

    $ ros2 run py_pubsub listener
    

• cpp_srvcli

  It is package about: cpp service and client

  Terminal 1:

    $ ros2 run cpp_srvcli server
    [INFO] [rclcpp]: Ready to add two ints.
    [INFO] [rclcpp]: Incoming request
    a: 14 b: 3
    [INFO] [rclcpp]: sending back response: [17]
    

Terminal 2:

    $ ros2 run cpp_srvcli client 14 3
    [INFO] [rclcpp]: Sum: 17
    

• py_srvcli

  It is package about: python service and client

  Terminal 1:

    $ ros2 run py_srvcli server
    [INFO] [minimal_service]: Incoming request
    a: 14 b: 3
    

Terminal 2:

    $ ros2 run py_srvcli client 14 3
    [INFO] [minimal_client_async]: Result of add_two_ints: for 14 + 3 = 17
    

• costum_msg_srv

  It is package about: costum msg and srv, and testing with cpp pub&sub and srv&cli

  Terminal 1:

    $ ros2 run costum_msg_srv server
    

Terminal 2:

    $ ros2 run costum_msg_srv client 2 3 1
    

&

Terminal 1:

    $ ros2 run costum_msg_srv talker
    

Terminal 2:

    $ ros2 run  costum_msg_srv listener
    

• ros_tutorials

  It is package created using: git clone https://github.com/ros/ros_tutorials.git -b eloquent-devel

• testpkg_cmake

  It is package created using: ros2 pkg create –build-type ament_cmake –node-name cpp_node testpkg_cmake

  Terminal:

    $ ros2 run testpkg_cmake cpp_node
    

• testpkg_cmake_simple

  It is package created using: ros2 pkg create –build-type ament_cmake testpkg_cmake

• testpkg_python

  It is package created using: ros2 pkg create –build-type ament_python –node-name py_node testpkg_python

  Terminal:

    $ ros2 run testpkg_python py_node
    

• testpkg_python_simple

  It is package created using: ros2 pkg create –build-type ament_python testpkg_python

• testpkg_simple

  It is package created using: ros2 pkg create testpkg_simple

Helper Scripts

• refresh.sh

    #!/bin/bash
    source /opt/ros/eloquent/setup.bash
    source install/local_setup.bash
    source install/setup.bash
    clear
    

> It will source the workspace after buiding workspace or after creating new pkg. Run it as `./refresh.sh`

• makefile

    SHELL=/bin/bash
    all:
        make run
    run:
        colcon build --symlink-install
        bash refresh.sh
    

> It will build the workspace . Run it as `make`

• createpkg.sh

    #!/bin/bash
    cd src/
    ros2 pkg create $1 --build-type ament_cmake --node-name cpp_node
    cd ../
    #ls src/
    make
    source refresh.sh
    

> It will create new package . Run it as `./createpkg.sh newpkg_name`

• tftree.sh

    #!/bin/bash
    ros2 run rqt_tf_tree rqt_tf_tree
    

> It will  launch the gui to visvualise the tf tree. Run it as `./tftree.sh`

• printenv.sh

    #!/bin/bash
    printenv | grep -i ROS
    

> It will print the ROS related environment variable . Run it as `./printenv.sh`

• rosdep.sh

    sudo rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
    

> It will install dependencies of all pkg in the workspace. Run it in the workspace as `./rosdep.sh`

• ssh_into_another_computer.sh

    #!/bin/bash
    ssh rajendra@rajendra
    

> It will ssh into another system. Useful when using multiple ros masters. Run it as `./rajendra.sh`

Team

Or Contributors/supporters/mentors/guides who helped me out in these projects. | Abhinand A S | Sachin Rustagi | Swami Prasad | | :—: |:—:| :—:| | | | |

Contributing

To get started…

Step 1

• Option 1
  • 🍴 Fork this repo!
• Option 2
  • 👯 Clone this repo to your local machine using https://github.com/iamrajee/ros2eloquent_moveit_ws.git

Step 2

• HACK AWAY! 🔨🔨🔨

Step 3

• 🔃 Create a new pull request using https://github.com/iamrajee/ros2eloquent_moveit_ws/compare/.

FAQ

• I ran into some issue while running above package, what to do now?
  • Simply contact me!

Support

Reach out to me for any help! | | | | :—: | — | | | Name : Rajendra Singh
Email : singh.raj1997@gmail.com
Web : https://iamrajee.github.io/
LinkedIn : https://www.linkedin.com/in/rajendra-singh-6b0b3a13a/
Twitter: @i_am_rajee | | | |

License

• MIT license

• Copyright (c) 2019 Rajendra Singh.

Acknowledgments

• Hat tip to anyone whose code was used and thanks to everyone who inspired and supported me in this project.