mros2-host-examples

This repository contains ROS 2 packages that can communicate with mros2, which is an agent-less and lightweight runtime environment for ROS 2 nodes onto embedded devices.

Please also check for more details about example applications on the embedded device.

• mROS-base/mros2-mbed#examples
• mROS-base/mros2-asp3-f767zi/workspace

mros2_echoreply_string

• Description:
  • (The mros2 node on the embedded device publishes string (std_msgs::msg::String) message to /to_linux topic.)
  • The mros2_echoreply node on the host subscribes string (std_msgs::msg::String) message from /to_linux topic, and then its node publishes the message as it is to /to_stm topic.
  • (The mros2 node on the embedded device will subscribes the message as the echoback.)
• Host operation:
  • $ ros2 run mros2_echoreply_string echoreply_node
• mros2 application on the embedded device:
  • echoback_string

mros2_echoback_string

• Description:
  • The pub_mros2 node on the host publishes string (std_msgs::msg::String) message to /to_stm topic.
  • (The mros2 node on the embedded device will echoreply this message as it is.)
  • The mros2_sub node on the host subscribes string message from /to_linux topic.
• Host operation:
  • at first terminal: $ ros2 run mros2_echoback_string sub_node
  • and then, at second terminal: $ ros2 run mros2_echoback_string pub_node
  • or, at one terminal:
    • $ ros2 launch mros2_echoback_string pubsub.launch.py
• mros2 application on the embedded device:
  • echoreply_string

mros2_sub_float32

• Description:
  • The mros2_sub node on the host subscribes float32 (std_msgs::msg::Float32) message from /to_linux topic.
• Host operation:
  • $ ros2 run mros2_sub_float32 sub_node
  • or, $ ros2 launch mros2_sub_float32 sub.launch.py
• mros2 application on the embedded device:
  • pub_float32

mros2_pub_uint16

• Description:
  • The pub_mros2 node on the host publishes uint16 (std_msgs::msg::UInt16) message to /to_stm topic.
• Host operation:
  • $ ros2 run mros2_pub_uint16 pub_node
  • or, $ ros2 launch mros2_pub_uint16 pub.launch.py
• mros2 application on the embedded device:
  • sub_uint16

mros2_sub_twist

• Description:
  • The sub_twist node on the host subscribes Twist (geometry_msgs::msg::Twist) message from /cmd_vel topic.
• Host operation:
  • $ ros2 run mros2_sub_twist sub_node
  • or, $ ros2 launch mros2_sub_twist sub.launch.py
• mros2 application on the embedded device:
  • pub_twist

mros2_pub_pose

• Description:
  • The pub_pose node on the host publishes Pose (geometry_msgs::msg::Pose) message to /cmd_vel topic.
• Host operation:
  • $ ros2 run mros2_pub_pose pub_node
  • or, $ ros2 launch mros2_pub_pose launch.py
• mros2 application on the embedded device:
  • sub_pose

mros2_sub_long_string_pub_crc

• Description:
  • (The mros2 node on the embedded device publishes string (std_msgs::msg::String) message to /to_linux topic.)
  • The sub_long_string_pub_crc node on the host subscribes string (geometry_msgs::msg::String) message from /to_linux topic, and then its node publishes the CRC32 as a u_int32 (std_msgs::msg::UInt32) value to /to_stm topic.
• Host operation:
  • $ ros2 run mros2_sub_long_string_pub_crc sub_long_string_pub_crc_node
  • or, $ ros2 launch mros2_sub_long_string_pub_crc subpub.launch.py
• mros2 application on the embedded device:
  • pub_long_string_sub_crc