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ROS 2 Talker of a ctrlX Data Layer Value (Python)

Introduction

This project implements a ROS 2 talker, which reads a ctrlX Data Layer value and publishes it as ROS 2 message.

Writing a simple publisher and subscriber (Python) was used as template.

See also:

Implementation

  • The directory structure is according colcon packages.
  • In setup.py and setup.cfg the colcon package is defined.
  • src/talker/talker/main.py provides the main function
  • src/talker/ros2/datalayer_reader_ros2_publisher.py reads a ctrlX Data Layer value, creates a ROS 2 message and publishes it under the topic ctrlXCpuUtilisationPercent.
  • src/talker/ctrlx_datalayer/ctrlx_datalayer_helper.py contains helper functions regarding ctrlX Data Layer
  • snap/snapcraft.yaml defines which files are packed into the snap.

Build process

To build a snap run

./build-snap-amd64.sh

The script contains following build steps:

  1. Build the colcon package:

    colcon build

  2. Clean the snapcraft helper directories:

    snapcraft clean --destructive-mode

  3. Update helper directories and build the snap:

    snapcraft --destructive-mode

Hint: Arm64-cross-build is not supported.

Installation and test

The ros2-base snap must already be installed.

Install the created snap on ctrlX OS.

It publishes at the ROS 2 topic MinimalPublisher.

The output can be checked with:

sudo snap logs -f ros2-simple-talker

Build, install and test

With following command you can combine the build, installation and test steps - here the target is a ctrlX COREvirtual with port forwarding.

../../../public/scripts/build-upload-log-snap.sh -PF

About

SPDX-FileCopyrightText: Copyright (c) 2023 Bosch Rexroth AG

https://www.boschrexroth.com/en/dc/imprint/

Licenses

SPDX-License-Identifier: Apache-2.0