This page intends to provide a starting point and overview of the project, as well as a roadmap for how to get involved with the project even if you aren't familiar with the code or technology stack. Please note that these links may not be up to date and any links should be followed at your own risk. If you find any links that no longer work or changes that need to be made, please contact me at andrewburroughs17@gmail.com. Click here to view the documentation for the project. If you are not familiar with Github and the git cli, please refer to the Razorbotz Github Intro page.
To install ROS2 and begin the project, please refer to the Razorbotz Installation Page. After installing ROS2, please use the following commands to run some examples and ensure ROS2 is installed correctly.
Run the following commands in one terminal in your Linux environment
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_cpp talker
In a second terminal in your Linux environment, run the following commands
source /opt/ros/foxy/setup.bash
ros2 run demo_nodes_py listener
ROS2 packages all contain the following:
- src folder //contains the source code / node files
- CMakeLists.txt //auto-generated file necessary for C++ ROS2 packages
- package.xml //auto-generated file necessary for C++ ROS2 packages
The src folder within a package contains the .cpp files that define nodes and supporting files for classes/objects/functions relevant to that package. To read more about ROS2 packages, please refer to the ROS2 tutorial.
The ROS2 packages currently in this project are as follows:
This project uses Doxygen to generate documentation for the files automatically. To make documentation easier for all users, Doxygen is hosted on the Github and does not need to be downloaded by contributers. To learn more about the Doxygen formatting, please refer to the Documenting the code section of the Doxygen docs. The documentation for this project can be found at the project website that is found here.
To standardize the documentation across multiple authors, the following documentation template will be used throughout the project. To see an example of how files should be commented to generate the documentation correctly, see Example.cpp.
Files
- Description of file
- Topics subscribed to
- Topics published
- Related files
Functions
- Description of Function
- Parameters
- Return values
- Related files and/or functions
To gain a better understanding of ROS2, please refer to the following tutorials.
- Configuring Your ROS 2 Environment
- Understanding ROS 2 Nodes
- Understanding ROS 2 Topics
- Understanding ROS 2 Parameters
- Creating a Launch File
- Creating a Workspace
- Creating a Package
- Writing a Simple Publisher and Subscriber (C++)
- Writing a Simple Publisher and Subscriber (Python)
- Writing Custom ROS2 msg Files
- Using Parameters in a Class (C++)
- Using Parameters in a Class (Python)
- Using ROS2 Launch
General Reference Material:
Hardware Documentation:
C++ Reference Material: