[Documentation] "How to" Tracker

[guilyx]

Create ROS2 Package

source /opt/ros/eloquent/setup.bash
ros2 pkg create --build-type ament_python realtime_statistics

Installation

RT Pendulum Demo

First, get and set the pendulum package here : https://github.com/ros2-realtime-demo/pendulum

$ source /opt/ros/eloquent/setup.bash
$ mkdir -p ~/pendulum_ws/src
$ cd ~/pendulum_ws/src
$ git clone https://github.com/ros2-realtime-demo/pendulum
$ cd ~/pendulum_ws
$ sudo rosdep init
$ rosdep update
$ rosdep install -q -y --from-paths src --ignore-src --rosdistro eloquent
$ colcon build --merge-install # OR colcon build --symlink-install

Then try and run some of these : https://github.com/ros2-realtime-demo/pendulum/blob/eloquent/docs/real_time_tutorial.md

RealTime Statistics

$ mkdir -p ~/rt_stats_ws
$ git clone https://github.com/MasterERTS/ros2_realtime_statistics.git
$ colcon build --symlink-install
$ . install/setup.bash # or setup.zsh if on zsh

Run

Terminal 1 :

$ cd ~/pendulum_ws
$ . install/setup.bash
$ ros2 run pendulum_demo pendulum_demo --priority 80 --pub-stats

Terminal 2 :

$ cd ~/pendulum_ws
$ install/setup.bash
$ ros2 run pendulum_manager pendulum_manager
press 0 to activate all nodes

Terminal 3 :

$ cd ~/rt_stats_ws
$ . install/setup.bash
$ ros2 run realtime_statistics write_json
leave it open for as long as you want then close it

Terminal 4 :

$ cd ~/rt_stats_ws
$ . install/setup.bash
$ ros2 run realtime_statistics plot_json