rai_interfaces

rai_interfaces is a ROS 2 package containing message and service interface definitions for communication within the RAI ecosystem.

These interfaces are designed to support integration and communication in robotics systems using ROS 2, and are compatible with the ROS 2 Humble and Jazzy distributions.

Features

• Custom message and service definitions used across the RAI platform.
• Compatible with ROS 2 Humble and Jazzy.
• Lightweight and modular for easy reuse in other packages.

Installation

Prerequisites

• ROS 2 (Humble Hawksbill or Jazzy Jalisco) installed and sourced.
• colcon build system.
• rosdep for installing dependencies.

Clone into a ROS 2 Workspace

1. Create a ROS 2 workspace (if you don’t have one):

   mkdir -p ~/rai_ws/src
   cd ~/rai_ws/src
   

1. Clone the rai_interfaces repository:

   git clone https://github.com/RobotecAI/rai_interfaces.git
   

1. Install dependencies:

   cd ~/rai_ws
   rosdep install --from-paths src --ignore-src -r -y
   

1. Build the workspace:

   colcon build
   

1. Source the workspace:

   source install/setup.bash
   

Usage

After building and sourcing the workspace, the interfaces can be used within RAI as well as ROS 2 packages.