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About

A base template of a ROS2 package. This should be a good starting point when developing a new package for ROS2. It has the following all setup

• Two simple publisher nodes
• One simple subscriber node
• Simple action client and action server nodes
• Simple service client and service server nodes
• Several launch files to understand the programmatic launch approach of ROS2
• A simple Github action workflow for CI/CD
• Simple unit test template
• Documentation template

How to build

Prerequisites

• Ubuntu 22.04
• ROS2 Humble
• Docker
• Pre-Commit

Install ROS2

To install ROS2 follow the official instructions provided here.

Make sure to install the version that corresponds to the branch you require or slight modifications may be required to compile the code.

https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

Create a Development Workspace

mkdir -p ~/dev_ws/src

Clone a Package

cd ~/dev_ws/src
git clone -c http.sslverify=false https://github.com/acfr/ros2_template_pkg.git
cd ros2_template_pkg
git submodule init
pre-commit install
git -c http.sslverify=false submodule update
cd ../..
rosdep install -i --from-path src --rosdistro humble -y
colcon build

Setup your Worksapce

• Install pip sudo apt install python3-pip

• Install Pre-Commit pip install pre-commit

• Install docker using the following instructions https://docs.docker.com/engine/install/ubuntu/

• By default, Docker is only accessible with root privileges (sudo). If you want to use docker as a regular user, you need to add your user to the docker group.

sudo addgroup --system docker
sudo adduser $USER docker
newgrp docker
sudo snap disable docker
sudo snap enable docker

How to run

Using ros2 run

• You can run each node individually using ros2 run using ros2 run <package_name> <node_executable_name>
• Example ros2 run ros2_template_pkg talker

Using ros2 launch

• Launch files are wrtitten using python scripts
• To invoke a node you can run the python script using ros2 launch like below ros2 launch <package_name> <launch_file_name.py>
• Example ros2 launch ros2_template_pkg all_launch.py

Dependencies

• acfr_ros2_interfaces - Contains interface description files such .msg(s) and .srv(s)
• rosdoc2
• doxygen
• gtest