Difference between revisions of "ROS2"
From ElphelWiki
(→2. Available packages) |
(→ROS2) |
||
Line 21: | Line 21: | ||
'''Notes:''' | '''Notes:''' | ||
* Is this a required minimum? | * Is this a required minimum? | ||
− | + | * '''ROS_USE_PYTHON3 = "yes"''' results in errors? | |
===Work=== | ===Work=== | ||
====1. Test Talker and Listener==== | ====1. Test Talker and Listener==== |
Revision as of 14:05, 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?
- ROS_USE_PYTHON3 = "yes" results in errors?
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