ROS 2はじめました

ROS Japan UG #10 https://rosjp.connpass.com/event/55125/ の発表資料です。ROS 2とDockerを絡めた話をしました。

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    int main(int argc, char * argv[]) { rclcpp::init(argc, argv); auto node = rclcpp::node::Node::make_shared("talker"); rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default; custom_qos_profile.depth = 7; auto topic = std::string("chatter"); auto chatter_pub = node->create_publisher<std_msgs::msg::String>( topic, custom_qos_profile); rclcpp::WallRate loop_rate(2); auto msg = std::make_shared<std_msgs::msg::String>(); auto i = 1; while (rclcpp::ok()) { msg->data = "Hello World: " + std::to_string(i++); std::cout << "Publishing: '" << msg->data << "'" << std::endl; chatter_pub->publish(msg); rclcpp::spin_some(node); loop_rate.sleep(); } return 0; } IUUQTHJUIVCDPNSPTEFNPTCMPCNBTUFS EFNP@OPEFT@DQQTSDUPQJDTUBMLFSDQQ
    
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    void chatterCallback(const std_msgs::msg::String::SharedPtr msg) { std::cout << "I heard: [" << msg->data << "]" << std::endl; } int main(int argc, char * argv[]) { rclcpp::init(argc, argv); auto node = rclcpp::Node::make_shared("listener"); auto topic = std::string("chatter"); auto sub = node->create_subscription<std_msgs::msg::String>( topic, chatterCallback, rmw_qos_profile_default); rclcpp::spin(node); return 0; }
    
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    FROM youtalk/ubuntu-ja:xenial MAINTAINER Yutaka Kondo <yutaka.kondo@youtalk.jp> RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > \ /etc/apt/sources.list.d/ros-latest.list' RUN apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA11 RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu xenial main" > \ /etc/apt/sources.list.d/gazebo-latest.list' RUN apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys D2486D2DD83DB69272AFE98867170598AF249743 RUN apt-get update && apt-get -q -y install \ git wget build-essential cppcheck cmake \ libopencv-dev libpoco-dev libpocofoundation9v5 libpocofoundation9v5-dbg \ python-empy python3-dev python3-empy python3-nose python3-pip python3-setuptools python3-vcstool \ libtinyxml-dev libeigen3-dev clang-format \ pydocstyle pyflakes python3-coverage python3-mock python3-pep8 \ uncrustify libasio-dev libtinyxml2-dev \ libboost-chrono-dev libboost-date-time-dev libboost-program-options-dev \ libboost-regex-dev libboost-system-dev libboost-thread-dev \ && rm -rf /var/lib/apt/lists/* RUN pip3 install flake8 flake8-import-order RUN mkdir -p /root/ros2_ws/src WORKDIR /root/ros2_ws RUN wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos RUN vcs import src < ros2.repos RUN src/ament/ament_tools/scripts/ament.py build --build-tests --symlink-install --isolated COPY ./ros2_entrypoint.sh / ENTRYPOINT ["/ros2_entrypoint.sh"] CMD ["bash"]
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