Difference between revisions of "ROS2"
From ElphelWiki
(→ROS2) |
(→Work) |
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Line 53: | Line 53: | ||
"Environment variable '{}' is not set or empty".format(AMENT_PREFIX_PATH_ENV_VAR)) | "Environment variable '{}' is not set or empty".format(AMENT_PREFIX_PATH_ENV_VAR)) | ||
<font color='red'>'''OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty'''</font></font> | <font color='red'>'''OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty'''</font></font> | ||
+ | |||
+ | ====2. Available packages==== | ||
+ | * SSH session: | ||
+ | root@elphel393:~# export AMENT_PREFIX_PATH=/usr | ||
+ | root@elphel393:~# ros2 pkg list | ||
+ | |||
+ | <font size='1'>builtin_interfaces | ||
+ | demo_nodes_cpp | ||
+ | example_interfaces | ||
+ | geometry_msgs | ||
+ | rcl | ||
+ | rcl_interfaces | ||
+ | rclcpp | ||
+ | rclpy | ||
+ | rcutils | ||
+ | rmw | ||
+ | rmw_fastrtps_cpp | ||
+ | rosidl_cmake | ||
+ | rosidl_generator_c | ||
+ | rosidl_generator_cpp | ||
+ | rosidl_parser | ||
+ | rosidl_typesupport_interface | ||
+ | rosidl_typesupport_introspection_c | ||
+ | rosidl_typesupport_introspection_cpp | ||
+ | sensor_msgs | ||
+ | </font> |
Revision as of 13:03, 4 December 2018
Contents
GitHub
https://github.com/bmwcarit/meta-ros.git
ROS1
Build
- Won't build
Work
- Won't work
ROS2
Build
- Add path to bblayers.conf
- Add to "IMAGE_INSTALL_append" of core-image-elphel393.bb:
ros2-demo-nodes-cpp \ ros2topic \ ros2msg \ ros2run \
Notes:
- Is this a required minimum?
Work
1. Test Talker and Listener
- SSH session 1:
root@elphel393:~# export AMENT_PREFIX_PATH=/usr root@elphel393:~# ros2 run demo_nodes_cpp talker
- SSH session 2:
root@elphel393:~# export AMENT_PREFIX_PATH=/usr root@elphel393:~# ros2 run demo_nodes_cpp listener
Notes:
- If AMENT_PREFIX_PATH is not set then:
Traceback (most recent call last): File "/usr/bin/ros2", line 11, in <module> load_entry_point('ros2cli==0.4.0', 'console_scripts', 'ros2')() File "/usr/lib/python3.5/site-packages/ros2cli/cli.py", line 64, in main rc = extension.main(parser=parser, args=args) File "/usr/lib/python3.5/site-packages/ros2run/command/run.py", line 59, in main executable_name=args.executable_name) File "/usr/lib/python3.5/site-packages/ros2run/api/__init__.py", line 30, in get_executable_path paths = get_executable_paths(package_name=package_name) File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 41, in get_executable_paths prefix_path = get_prefix_path(package_name) File "/usr/lib/python3.5/site-packages/ros2pkg/api/__init__.py", line 34, in get_prefix_path prefix_path = get_package_prefix(package_name) File "/usr/lib/python3.5/site-packages/ament_index_python/packages.py", line 49, in get_package_prefix content, package_prefix = get_resource('packages', package_name) File "/usr/lib/python3.5/site-packages/ament_index_python/resources.py", line 37, in get_resource for path in get_search_paths(): File "/usr/lib/python3.5/site-packages/ament_index_python/search_paths.py", line 30, in get_search_paths "Environment variable '{}' is not set or empty".format(AMENT_PREFIX_PATH_ENV_VAR)) OSError: Environment variable 'AMENT_PREFIX_PATH' is not set or empty
2. Available packages
- SSH session:
root@elphel393:~# export AMENT_PREFIX_PATH=/usr root@elphel393:~# ros2 pkg list
builtin_interfaces demo_nodes_cpp example_interfaces geometry_msgs rcl rcl_interfaces rclcpp rclpy rcutils rmw rmw_fastrtps_cpp rosidl_cmake rosidl_generator_c rosidl_generator_cpp rosidl_parser rosidl_typesupport_interface rosidl_typesupport_introspection_c rosidl_typesupport_introspection_cpp sensor_msgs