Add Topic Keys tutorials #5573
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Add Topic Keys tutorials #5573
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Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
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May 7, 2025
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| .. code-block:: bash | ||
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| docker run -it --rm osrt/ros:{DISTRO}-desktop | ||
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| Then, within the container, source the ROS 2 installation with: | ||
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| .. code-block:: bash | ||
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| source /opt/ros/{DISTRO}/setup.bash | ||
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| #. Running the tutorial on the local host. | ||
| Please, follow the :doc:`installation instructions <../../../Installation>` for details on installing ROS 2. | ||
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| Source the following file to setup the ROS 2 environment: | ||
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| .. code-block:: bash | ||
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| source /opt/ros/{DISTRO}/setup.bash |
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| .. code-block:: bash | |
| docker run -it --rm osrt/ros:{DISTRO}-desktop | |
| Then, within the container, source the ROS 2 installation with: | |
| .. code-block:: bash | |
| source /opt/ros/{DISTRO}/setup.bash | |
| #. Running the tutorial on the local host. | |
| Please, follow the :doc:`installation instructions <../../../Installation>` for details on installing ROS 2. | |
| Source the following file to setup the ROS 2 environment: | |
| .. code-block:: bash | |
| source /opt/ros/{DISTRO}/setup.bash | |
| .. code-block:: console | |
| $ docker run -it --rm osrt/ros:{DISTRO}-desktop | |
| Then, within the container, source the ROS 2 installation with: | |
| .. code-block:: console | |
| $ source /opt/ros/{DISTRO}/setup.bash | |
| #. Running the tutorial on the local host. | |
| Please, follow the :doc:`installation instructions <../../../Installation>` for details on installing ROS 2. | |
| Source the following file to setup the ROS 2 environment: | |
| .. code-block:: console | |
| $ source /opt/ros/{DISTRO}/setup.bash |
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also extend source /opt/ros/{DISTRO}/setup.bash with different plantforms (including windows)
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| .. code-block:: bash | ||
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| # Create directory structure | ||
| mkdir -p ~/tutorial_ws/src/demo_keys_filtering_cpp | ||
| mkdir ~/tutorial_ws/src/demo_keys_filtering_cpp/msg | ||
| mkdir ~/tutorial_ws/src/demo_keys_filtering_cpp/src | ||
| mkdir ~/tutorial_ws/src/demo_keys_filtering_cpp/launch | ||
| cd ~/tutorial_ws/src/demo_keys_filtering_cpp | ||
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| # Download demo package source code | ||
| wget -O CMakeLists.txt https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/CMakeLists.txt | ||
| wget -O package.xml https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/package.xml | ||
| wget -O README.md https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/README.md | ||
| wget -O msg/KeyedSensorDataMsg.msg https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/msg/KeyedSensorDataMsg.msg | ||
| wget -O src/filtered_keyed_sensor.cpp https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/src/filtered_keyed_sensor.cpp | ||
| wget -O src/filtered_keyed_controller.cpp https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/src/filtered_keyed_controller.cpp | ||
| wget -O launch/keyed_sensors_launch.py https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/launch/keyed_sensors_launch.py | ||
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| The resulting directory structure should be: |
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| .. code-block:: bash | |
| # Create directory structure | |
| mkdir -p ~/tutorial_ws/src/demo_keys_filtering_cpp | |
| mkdir ~/tutorial_ws/src/demo_keys_filtering_cpp/msg | |
| mkdir ~/tutorial_ws/src/demo_keys_filtering_cpp/src | |
| mkdir ~/tutorial_ws/src/demo_keys_filtering_cpp/launch | |
| cd ~/tutorial_ws/src/demo_keys_filtering_cpp | |
| # Download demo package source code | |
| wget -O CMakeLists.txt https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/CMakeLists.txt | |
| wget -O package.xml https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/package.xml | |
| wget -O README.md https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/README.md | |
| wget -O msg/KeyedSensorDataMsg.msg https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/msg/KeyedSensorDataMsg.msg | |
| wget -O src/filtered_keyed_sensor.cpp https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/src/filtered_keyed_sensor.cpp | |
| wget -O src/filtered_keyed_controller.cpp https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/src/filtered_keyed_controller.cpp | |
| wget -O launch/keyed_sensors_launch.py https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/launch/keyed_sensors_launch.py | |
| The resulting directory structure should be: | |
| .. code-block:: console | |
| # Create directory structure | |
| $ mkdir -p ~/tutorial_ws/src/demo_keys_filtering_cpp | |
| $ mkdir ~/tutorial_ws/src/demo_keys_filtering_cpp/msg | |
| $ mkdir ~/tutorial_ws/src/demo_keys_filtering_cpp/src | |
| $ mkdir ~/tutorial_ws/src/demo_keys_filtering_cpp/launch | |
| $ cd ~/tutorial_ws/src/demo_keys_filtering_cpp | |
| # Download demo package source code | |
| $ wget -O CMakeLists.txt https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/CMakeLists.txt | |
| $ wget -O package.xml https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/package.xml | |
| $ wget -O README.md https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/README.md | |
| $ wget -O msg/KeyedSensorDataMsg.msg https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/msg/KeyedSensorDataMsg.msg | |
| $ wget -O src/filtered_keyed_sensor.cpp https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/src/filtered_keyed_sensor.cpp | |
| $ wget -O src/filtered_keyed_controller.cpp https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/src/filtered_keyed_controller.cpp | |
| $ wget -O launch/keyed_sensors_launch.py https://raw.githubusercontent.com/ros2/ros2_documentation/{DISTRO}/source/Tutorials/Advanced/Topic-Keys/resources/Filtered/launch/keyed_sensors_launch.py | |
| The resulting directory structure should be: |
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Also CMD support for other platforms
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| * ``filtered_keyed_controller.cpp``: This is the source code for a controller node that filters keyed sensor data in reception, being the most relevant lines the ones that define the filter expression and Quality of Service settings: | ||
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| .. code-block:: bash |
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| .. code-block:: bash | |
| .. code-block:: cpp |
| * ``filtered_keyed_sensor.cpp``: This is the source code for a sensor node that publishes keyed sensor data. | ||
| The most relevant lines are the ones that create the publication with a particular Quality of Service settings that enables the controller to late join the application but still receiving the latest update for every instance with the use of topic keys. | ||
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| .. code-block:: bash |
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| .. code-block:: bash | |
| .. code-block:: cpp |
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| Generate the corresponding IDL definition from the provided ``KeyedSensorDataMsg.msg`` file, using the ``msg2idl.py`` script from the ``rosidl_adapter`` package. | ||
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| .. code-block:: bash |
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| .. code-block:: bash | |
| .. code-block:: console |
| // Create a callback function for when messages are received. | ||
| setvbuf(stdout, NULL, _IONBF, BUFSIZ); | ||
| auto callback = | ||
| [this](demo_keys_filtering_cpp::msg::KeyedSensorDataMsg::ConstSharedPtr msg) -> void |
| "subscribed to topic \"%s\" with content filter options \"%s, {%s}\"", | ||
| sub_->get_topic_name(), | ||
| sub_options.content_filter_options.filter_expression.c_str(), | ||
| rcpputils::join(sub_options.content_filter_options.expression_parameters, ", ").c_str()); |
| period_ = std::chrono::milliseconds(id_ * 1000); | ||
| measurement_ = distribution_(generator_); | ||
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| setvbuf(stdout, NULL, _IONBF, BUFSIZ); |
| uint16_t id_{0}; | ||
| std::chrono::milliseconds period_{1000}; | ||
| std::default_random_engine generator_; | ||
| std::uniform_real_distribution<float> distribution_{50.0, 90.0}; |
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| std::uniform_real_distribution<float> distribution_{50.0, 90.0}; | |
| std::uniform_real_distribution<float> distribution_{50.0f, 90.0f}; |
| } | ||
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| private: | ||
| uint16_t id_{0}; |
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
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Friendly ping @fujitatomoya, you may also be interested in reviewing this |
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CC: @MiguelCompany |
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I suppose @fgallegosalido and @lobolanja, who made the changes in the Connext RMW, might want to take a look |
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We'll take a look into it. Thanks for the heads up! |
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| // Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima). | |||
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Copyright year should be 2025. Review other files too.
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Tutorials look good to me. Just a minor comment on the licensing year. |
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
fgallegosalido
approved these changes
May 15, 2025
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Following the Topic instances support, this PR adds two tutorials for exemplifying the use of topic instances in ROS 2.