ROS 2.0 workshop

Preparations

1. Install a recent ROS 2 either from source or as binary according to the official instructions.
2. Create a workspace directory structure, e.g. my_workspace/src.
3. Clone this repository within the src directory of your workspace and checkout master.
4. Source the environment of your ROS 2 installation, e.g. . $PATH_TO_YOUR_ROS_INSTALLATION/setup.bash, and build this repositories content.

   cd $WORKSPACE_ROOT # directory that contains the src directory (e.g. my_workspace)
   colcon build --merge-install --cmake-args " -DCMAKE_BUILD_TYPE=Debug"
   

5. Source the local workshop environment and run the test program

   . install/setup.bash
   demo
   

Links

• Feature Overview
• Design Overview
• Tutorials
• Basic Examples
• Colcon - build tool
• Official Core Documentation
  • rclcpp API docs
• TF2 - ROS Bindings
  • This is mostly ROS1 but the API works almost the same for ROS 2.0
  • Wiki
  • API docs
  • ROS 2.0 tf2_ros Github project

ROS 2.0 CLI tools

• ros2 topic list
• ros2 topic echo <TOPIC> Subscribes to topic and prints every received message.
• ros2 topic pub ... Creates an adhoc publisher and publishes periodically given data.

  ros2 topic pub topic1 std_msgs/String "data: Hello World"