ROS2 robotcontrol

Exposing librobotcontrol API as ROS2 nodes

Installation

Create ROS2 workspace and clone the repository into src. Next, build robotcontrol packages. To build all packages run from the root of your ROS workspace

colcon build

If using ros-dev docker images, build packages as follows

docker run -v <host-path-to-ros-workspace>:<container-path-to-ros-workspace> --rm ros-dev:base zsh -c "cd <container-path-to-ros-workspace>; colcon build"

Additionaly, you may select a desired package using either --packages-select or --packages-up-to parameters in the above.

Available packages are:

• robotcontrol_interfaces in which messages are defined
• robotcontrol_cape which follows closely robotcontrol API
• robotcontrol_extra all extra nodes and services that are not directly linked to robotcontrol library

Finally install built packages by sourcing setup script from the root of your ROS workspace

source ./install/setup.zsh

Running nodes in docker container

An example of running mecanum drive node

docker run --net host --pid host -v <host-path-to-ros-workspace>:<container-path-to-ros-workspace> --rm ros-dev:base zsh -c "source <container-path-to-ros-workspace>/install/setup.zsh; ros2 run robotcontrol_extra mecanum_drive"