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

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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
  

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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

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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

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Team

Or Contributors/supporters/mentors/guides who helped me out in these projects.

Abhinand A S	Sachin Rustagi	Swami Prasad

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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/.

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FAQ

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

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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

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License

• MIT license
• Copyright (c) 2019 Rajendra Singh.

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Acknowledgments

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