MAC-ros2_elementary_teaching

Workflow

1. Clone the repository:

   git clone -b template https://github.com/DIT-ROBOTICS/MAC-ros2_elementary_teaching.git

2. build container:

   cd /ros2_teaching/docker
   docker build .
   docker compose up

3. enter container

   source /opt/ros/humble/setup.bash
   echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
   source install/setup.bash
   echo "source install/setup.bash" >> ~/.bashrc
   colcon build

4. create branch from template

   git checkout -b your_branch

後續寫作業時接在 your_branch 修改，要交作業時再 push 上來，your_branch 名稱用 github 帳號名 +_branch 寫作業的方式是修改程式中的"TO DO"，使其符合作業需求

MAC-ros2_elementary_teaching_example

HW_1 topic練習

標頭檔皆放在 /include/homework/topic_hw.h 下

publisher：

• 檔案：publisher.cpp
• node名稱：Publisher
• 功能：每0.5秒傳從0開始的正整數並印出

subscriber：

• 檔案：subscription.cpp
• node名稱：Subscriber
• 功能：接收publisher傳來的topic並印出

topic：

• std_msgs/Int64 /topic

HW_2 service練習

標頭檔皆放在 /include/homework/service_hw.h 下

server：

• 檔案：server.cpp
• node名稱：Server
• 功能：將收到的兩數字平方相加後開2次根並印出request與response

client：

• 檔案：client.cpp
• node名稱：Client
• 功能：由(0,0)開始每0.5秒發送request，每次成功發送request後 x+1 y+2並印出收到的response

service：

• request：geometry_msgs/Point point
• response：float32 dis

HW_3 launch練習

一次開啟前兩次作業的四個node

• 檔名：launch_hw.launch
• 功能：將HW_1的topic名改成/number，將HW_2的client node名改成Chassis; server node名改成Tower