micro-ROS Demos

Overview

The primary purpose for this repository is to organise all packages for the Micro-ROS project functionalities demonstrations. All packages contained in this repository are a part of the Micro-ROS project stack.

Previous step

To run all the demonstrations, you need to set up the ROS2 environment and build all the required packages. Click here to read further about how to do this previous step.

Package clusters

The repository contains the below packages clusters:

Simple message demonstration

Packages

Int32_publisher

The purpose of the package is to publish one of the most basic ROS2 messages and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it. For each publication, the message value increases in one unit order to see in the subscriber side the message variations.

Int32_subscriber

The purpose of the package is to subscribe to one of the most basic ROS2 messages and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it.

Run demonstration (Linux)

Run the micro-ROS Agent. For the micro-ROS Agent to find the XML reference file, the execution must be done from the executable folder.

cd ~/agent_ws/install/uros_agent/lib/uros_agent/
./uros_agent udp 8888

You may prefer to run the Agent in the background and discard all outputs to keep using the same terminal for the next step.

cd ~/agent_ws/install/uros_agent/lib/uros_agent/
./uros_agent udp 8888 > /dev/null &

Run the publisher.

~/client_ws/install/int32_publisher_c/lib/int32_publisher_c/./int32_publisher_c

You may prefer to run the publisher in the background and discard all outputs to keep using the terminal for the next step.

 ~/client_ws/install/int32_publisher_c/lib/int32_publisher_c/./int32_publisher_c > /dev/null &

Run the subscriber.

~/client_ws/install/int32_subscriber_c/lib/int32_subscriber_c/./int32_subscriber_c

Run demonstration (Windows)

Run the micro-ROS Agent. For the micro-ROS Agent to find the XML reference file, the execution must be done from the executable folder.

cd C:\A\install\Lib\uros_agent\
uros_agent.exe udp 8888

Run the publisher.

cd C:\C\install\Lib\int32_publisher_c\
int32_publisher_c.exe

Run the subscriber.

cd C:\C\install\Lib\int32_subscriber_c\
int32_subscriber_c.exe

String message demonstration

String packages

String_publisher

The purpose of the package is to publish a simple string ROS2 message and demonstrate how Micro-ROS layers (rcl, typesupport and rmw) handle it. For each publication, the message string number increases in one unit order to see in the subscriber side the message variations.

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Contributing

Want to contribute? Great! You can do so through the standard GitHub pull request model. For large contributions we do encourage you to file a ticket in the GitHub issues tracking system prior to any code development to coordinate with the system_modes development team early in the process. Coordinating up front helps to avoid frustration later on.

Your contribution must be licensed under the Apache-2.0 license, the license used by this project.

Add / retain copyright notices

Include a copyright notice and license in each new file to be contributed, consistent with the style used by this project. If your contribution contains code under the copyright of a third party, document its origin, license, and copyright holders.

Sign your work

This project tracks patch provenance and licensing using a modified Developer Certificate of Origin (DCO; from [OSDL][DCO]) and Signed-off-by tags initially developed by the Linux kernel project.

system_modes Developer's Certificate of Origin.  Version 1.0

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I
    have the right to submit it under the "Apache License, Version 2.0"
    ("Apache-2.0"); or

(b) The contribution is based upon previous work that is covered by
    an appropriate open source license and I have the right under
    that license to submit that work with modifications, whether
    created in whole or in part by me, under the Apache-2.0 license;
    or

(c) The contribution was provided directly to me by some other
    person who certified (a) or (b) and I have not modified it.

(d) I understand and agree that this project and the contribution
    are public and that a record of the contribution (including all
    metadata and personal information I submit with it, including my
    sign-off) is maintained indefinitely and may be redistributed
    consistent with this project and the requirements of the Apache-2.0
    license or any open source license(s) involved, where they are
    relevant.

(e) I am granting the contribution to this project under the terms of
    Apache-2.0.

    http://www.apache.org/licenses/LICENSE-2.0

With the sign-off in a commit message you certify that you authored the patch or otherwise have the right to submit it under an open source license. The procedure is simple: To certify above system_modes Developer’s Certificate of Origin 1.0 for your contribution just append a line

Signed-off-by: Random J Developer <random@developer.example.org>

to every commit message using your real name or your pseudonym and a valid email address.

If you have set your user.name and user.email git configs you can automatically sign the commit by running the git-commit command with the -s option. There may be multiple sign-offs if more than one developer was involved in authoring the contribution.

For a more detailed description of this procedure, please see [SubmittingPatches][] which was extracted from the Linux kernel project, and which is stored in an external repository.

Individual vs. Corporate Contributors

Often employers or academic institution have ownership over code that is written in certain circumstances, so please do due diligence to ensure that you have the right to submit the code.

If you are a developer who is authorized to contribute to system_modes on behalf of your employer, then please use your corporate email address in the Signed-off-by tag. Otherwise please use a personal email address.

Maintain Copyright holder / Contributor list

Each contributor is responsible for identifying themselves in the NOTICE file, the project’s list of copyright holders and authors. Please add the respective information corresponding to the Signed-off-by tag as part of your first pull request.

If you are a developer who is authorized to contribute to system_modes on behalf of your employer, then add your company / organization to the list of copyright holders in the NOTICE file. As author of a corporate contribution you can also add your name and corporate email address as in the Signed-off-by tag.

If your contribution is covered by this project’s DCO’s clause “(c) The contribution was provided directly to me by some other person who certified

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