getting_started:ros_example
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getting_started:ros_example [2021/03/29 15:53] – created ursgraf | getting_started:ros_example [2023/02/27 16:46] (current) – [Working with ROS2] ursgraf | ||
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- | ===== Example for Making your EEROS Application a ROS Node ===== | + | ====== Example for Making your EEROS Application a ROS Node ====== |
- | The CMAKE file for the EEROS application using ROS has to be expanded as follows: | + | Back to [[getting_started: |
+ | |||
+ | ===== Working with ROS1 ===== | ||
+ | The CMake file for the EEROS application using ROS1 has to be expanded as follows: | ||
< | < | ||
- | cmake_minimum_required(VERSION 3.5.1) | + | cmake_minimum_required(VERSION 3.10) |
project(testProject) | project(testProject) | ||
Line 12: | Line 15: | ||
find_package( roslib REQUIRED ) | find_package( roslib REQUIRED ) | ||
if (roslib_FOUND) | if (roslib_FOUND) | ||
- | message( STATUS "-> ROS found" | + | |
- | add_definitions(-DROS_FOUND) | + | add_definitions(-DROS_FOUND) |
- | include_directories( " | + | include_directories( " |
- | message( STATUS " | + | message( STATUS " |
- | list(APPEND ROS_LIBRARIES " | + | list(APPEND ROS_LIBRARIES " |
- | find_package( rosconsole REQUIRED) | + | find_package( rosconsole REQUIRED) |
- | list(APPEND ROS_LIBRARIES " | + | list(APPEND ROS_LIBRARIES " |
- | find_package( roscpp REQUIRED ) | + | find_package( roscpp REQUIRED ) |
- | list(APPEND ROS_LIBRARIES " | + | list(APPEND ROS_LIBRARIES " |
+ | add_definitions(-DUSE_ROS) | ||
else() | else() | ||
- | message( STATUS "-> ROS NOT found" | + | |
endif() | endif() | ||
find_package(EEROS REQUIRED) | find_package(EEROS REQUIRED) | ||
- | include_directories(${EEROS_INCLUDE_DIR}; | ||
- | link_directories(${EEROS_LIB_DIR}; | ||
add_executable(testProject main.cpp) | add_executable(testProject main.cpp) | ||
- | target_link_libraries(testProject eeros ucl ${CMAKE_DL_LIBS} | + | target_link_libraries(testProject |
</ | </ | ||
Line 42: | Line 44: | ||
... | ... | ||
eeros:: | eeros:: | ||
- | ros:: | ||
log.info() << "ROS node initialized."; | log.info() << "ROS node initialized."; | ||
signal(SIGINT, | signal(SIGINT, | ||
Line 52: | Line 53: | ||
The ROS node will properly shut down as soon as the last node handler is destroyed when going out of scope. | The ROS node will properly shut down as soon as the last node handler is destroyed when going out of scope. | ||
+ | ===== Working with ROS2 ===== | ||
+ | The CMake file for the EEROS application using ROS2 has to be expanded as follows: | ||
+ | < | ||
+ | cmake_minimum_required(VERSION 3.10) | ||
+ | project(testProject) | ||
+ | |||
+ | set(CMAKE_CXX_STANDARD 14) | ||
+ | |||
+ | ## ROS | ||
+ | message(STATUS " | ||
+ | find_package(rclcpp REQUIRED) | ||
+ | if (rclcpp_FOUND) | ||
+ | message(STATUS "-> ROS2 found" | ||
+ | add_definitions(-DROS2_FOUND) | ||
+ | include_directories( " | ||
+ | message(STATUS " | ||
+ | list(APPEND ROS_LIBRARIES " | ||
+ | find_package(rosconsole QUIET) | ||
+ | list(APPEND ROS_LIBRARIES " | ||
+ | add_definitions(-DUSE_ROS2) | ||
+ | else() | ||
+ | message( STATUS "-> ROS2 NOT found" | ||
+ | endif() | ||
+ | |||
+ | find_package(EEROS REQUIRED) | ||
+ | |||
+ | add_executable(testProject main.cpp) | ||
+ | target_link_libraries(testProject PRIVATE eeros ${EEROS_LIBS} ${ROS_LIBRARIES}) | ||
+ | </ | ||
+ | |||
+ | Your test program might look like | ||
+ | <code cpp> | ||
+ | #include < | ||
+ | #include < | ||
+ | #include < | ||
+ | | ||
+ | int main(int argc, char **argv) { | ||
+ | ... | ||
+ | auto node = eeros:: | ||
+ | if (node != nullptr) log.info() << "ROS node initialized: | ||
+ | signal(SIGINT, | ||
+ | ... | ||
+ | ControlSystem cs(node, dt); | ||
+ | ... | ||
+ | </ | ||
+ | |||
+ | When defining a control system which uses ROS subscriber or publisher blocks, you have to pass this node to them. | ||
+ | |||
+ | All ROS tools such as '' | ||
+ | |||
+ | If you want to register a signal handler, e.g. for shutting down a system (see [[getting_started: | ||
+ | The ROS node will properly shut down as soon as the last node handler is destroyed when going out of scope. |
getting_started/ros_example.1617026021.txt.gz · Last modified: 2021/03/29 15:53 by ursgraf