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Hibagon1go committed Feb 16, 2022
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46 changes: 16 additions & 30 deletions workspace/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -16,50 +16,36 @@ Please also check [mROS-base/mros2-host-examples](https://github.com/mROS-base/m
- `$ ros2 run mros2_echoback_string pub_node`
- `$ ros2 run mros2_echoback_string sub_node`

## echoreply_uint16
## sub_uint16

- Description:
- The mROS 2 node on the embedded board subscribes `uint16` (`std_msgs::msg::UInt16`) message from `/to_stm` topic.
- And then publishes this `uint16` message as it is to `/to_linux` as the reply.
- Host operation:
- `$ ros2 launch mros2_echoback_uint16 launch.py`
- `$ ros2 launch mros2_pub_uint16 launch.py`
- or, at two terminals:
- `$ ros2 run mros2_echoback_uint16 pub_node`
- `$ ros2 run mros2_echoback_uint16 sub_node`
- `$ ros2 run mros2_pub_uint16 pub_node`

## echoreply_float32
## pub_float32

- Description:
- The mROS 2 node on the embedded board subscribes `float32` (`std_msgs::msg::Float32`) message from `/to_stm` topic.
- And then publishes this `float32` message as it is to `/to_linux` as the reply.
- Note that this application just print whether the value of message is between 5.0 and 10.0 or not, since TOPPERS/ASP3 kernel cannot print float value.
- The mROS 2 node on the embedded board publishes `float32` (`std_msgs::msg::Float32`) message to `/to_linux` topic.
- Host operation:
- `$ ros2 launch mros2_echoback_float32 launch.py`
- `$ ros2 launch mros2_sub_float32 launch.py`
- or, at two terminals:
- `$ ros2 run mros2_echoback_float32 pub_node`
- `$ ros2 run mros2_echoback_float32 sub_node`
- `$ ros2 run mros2_sub_float32 sub_node`

## echoreply_header
## sub_pose

- Description:
- The mROS 2 node on the embedded board subscribes `header` (`std_msgs::msg::Header`) message from `/to_stm` topic.
- And then publishes this `header` message as it is to `/to_linux` as the reply.
- Host operation:
- `$ ros2 launch mros2_echoback_header launch.py`
- The mROS 2 node on the embedded board subscribes `Pose` (`geometry_msgs::msg::Pose`) message from `cmd_vel` topic.
- `$ ros2 launch mros2_pub_pose launch.py`
- or, at two terminals:
- `$ ros2 run mros2_echoback_header pub_node`
- `$ ros2 run mros2_echoback_header sub_node`
- `$ ros2 run mros2_pub_pose pub_node`

## pub_string
## pub_twist

- Description:
- The mROS 2 node on the embedded board says hello to `/to_linux` as the publication message of `string`.
- The mROS 2 node on the embedded board publishes `Twist` (`geometry_msgs::msg::Twist`) message to `cmd_vel` topic.
- Host operation:
- `$ ros2 run mros2_echoback_string pub_node`

## sub_string

- Description:
- The mROS 2 node on the embedded board just subscribes `string` message from `/to_stm` topic.
- Host operation:
- `$ ros2 run mros2_echoback_string sub_node`
- `$ ros2 launch mros2_sub_twist launch.py`
- or, at two terminals:
- `$ ros2 run mros2_sub_twist sub_node`
6 changes: 3 additions & 3 deletions workspace/echoreply_string/README.md
Original file line number Diff line number Diff line change
@@ -1,13 +1,13 @@
# echoreply_string app

This is a sample application to communicate string messages.
This is a sample application to publish/subscribe `string` (`std_msgs::msg::String`) message.
Please follow the steps below.

1.Execute `make app=echoreply_string` in workspace direcroty, then this app will be built.
1.Execute `make app=echoreply_string` in `workspace` direcroty, then this app will be built.

2.Open serial console (ex. picocom) and initialize your micro computer board.

3.On the host device to communicate with, run mros2_echoback_string app (https://github.com/mROS-base/mros2-host-examples) .
3.On the host device to communicate with, run `mros2_echoback_string` app (https://github.com/mROS-base/mros2-host-examples) .

4.If you get logs below, which means success!!

Expand Down
23 changes: 6 additions & 17 deletions workspace/pub_float32/README.md
Original file line number Diff line number Diff line change
@@ -1,26 +1,15 @@
### float32型通信動作確認用アプリ
# pub_float32

float32型の通信の動作確認をするためのサンプルアプリです。
以下の手順で確認できます。

This is a sample application for float32-type communication.
This is a sample application to publish `float32` (`std_msgs::msg::Float32`) message.
Please follow the steps below.

1.workspaceディレクトリにて、`make app=pub_float32` によりアプリをビルドする。

Execute `make app=pub_float32` in workspace direcroty, then this app will be built.

2.Serial Console (picocomなど) を立ち上げて、初期化する。

Open serial console (ex. picocom) and initialize your micro computer board.

3.通信するホストデバイス上で、mros2-host-examples (https://github.com/mROS-base/mros2-host-examples) のmros2_sub_float32アプリを起動する。
1.Execute `make app=pub_float32` in `workspace` direcroty, then this app will be built.

On the host device to communicate with, run mros2_sub_float32 app in mros2-host-examples (https://github.com/mROS-base/mros2-host-examples) .
2.Open serial console (ex. picocom) and initialize your micro computer board.

4.以下のようなログが確認できたら通信成功!
3.On the host device to communicate with, run `mros2_sub_float32` app (https://github.com/mROS-base/mros2-host-examples) .

If you get logs below, which means success!!
4.If you get logs below, which means success!!
```
publishing float msg!!
publishing float msg!!
Expand Down
55 changes: 14 additions & 41 deletions workspace/pub_twist/README.md
Original file line number Diff line number Diff line change
@@ -1,42 +1,28 @@
### Twist型通信動作確認用アプリ
# pub_twist

Twist型の通信の動作確認をするためのサンプルアプリです。
以下の手順で確認できます。

This is a sample application for Twist-type communication.
This is a sample application to publish `Twist` (`geometry_msgs::msg::Twist`) message.
Please follow the steps below.

1.Twist型は基本型ではなく任意型なので、まずその定義ファイルを用意する。
ただし、Twist型はVector3型という任意型を含むので、その定義ファイルも用意する。

Since Twist-type is not built-in type, you need to prepare the Twist-type definition file.
Note that Twist-type has Vector3-type, which is also user-defined type, in it, so you need to prepare the Vector3-type definition file.
1.Since `Twist` type is not built-in type, you need to prepare the `Twist` type definition file. Note that `Twist` typw has `Vector3` (`geometry_msgs::msg::Vector3`) type in it, which is not built-in type, so you need to prepare the `Vector3` type definition file as well.

Vector3.msg
`Vector3.msg`
```
float64 x
float64 y
float64 z
```

Twist.msg
`Twist.msg`
```
geometry_msgs/msg/Vector3 linear
geometry_msgs/msg/Vector3 angular
```

2.geometry_msgs/msgというディレクトリをcustom_msgsディレクトリ下に作成し、その下にこれらを配置する。

Make geometry_msgs/msg directory under custom_msgs directory, then set these definition files.
2.Make `geometry_msgs/msg` directory under `custom_msgs` directory, then set these definition files.

3.geometry_msgsディレクトリ下にmsg_settings.jsonというファイルを作成する。
以下のように、pubsubMsgsをkeyとするvalueに、通信を実際に行う型の定義ファイルのパスを全て、
配列として記載する。ただし、今回は内部にVector3型を含む任意型であるTwist型による通信を行うが、
その際Vector3型のパスは記載しなくて良い。

Make msg_settings.json under geometry_msgs directory.
Then set all paths to each definition files used in this app at pubsubMsgs' value like below.
Note that Twist-type message is to be sent now and Twist-type has Vector3-type, but you don't have to include path to Vector3-type definition file.
3.Make `msg_settings.json` under `geometry_msgs` directory.
Then set all paths to each definition files you use in this app at `pubsubMsgs`'s value shown as below.
Note that `Twist` message is to be published and `Twist` type has `Vector3` type, but you don't have to include path to `Vector3` definition file.

```
{
Expand All @@ -46,28 +32,15 @@ Please follow the steps below.
}
```



4.workspaceディレクトリで、`make gen-msg msg=geometry_msgs`を実行する。
するとルートディレクトリに、mros2_msgs/geometry_msgs/msg/vector3.hppおよびmros2_msgs/geometry_msgs/msg/twist.hppが生成される。
4.Execute `make gen-msg msg=geometry_msgs` in `workspace` direcroty, then `vector3.hpp` and `twist.hpp` will be generated in `{root}/mros2_msgs/geometry_msgs/msg` directory.

Execute `make gen-msg msg=geometry_msgs` in workspace direcroty, then vector3.hpp and twist.hpp will be generated in {root}/mros2_msgs/geometry_msgs/msg directory.

5.workspaceディレクトリにて、`make app=pub_twist` によりアプリをビルドする。

Execute `make app=pub_twist` in workspace direcroty, then this app will be built.
5.Execute `make app=pub_twist` in `workspace` direcroty, then this app will be built.

6.Serial Console (picocomなど) を立ち上げて、初期化する。

Open serial console (ex. picocom) and initialize your micro computer board.

7.通信するホストデバイス上で、mros2-host-examples (https://github.com/mROS-base/mros2-host-examples) のmros2_sub_twistアプリを起動する。

On the host device to communicate with, run mros2_sub_twist app in mros2-host-examples (https://github.com/mROS-base/mros2-host-examples) .
6.Open serial console (ex. picocom) and initialize your micro computer board.

8.以下のようなログが確認できたら通信成功!
7.On the host device to communicate with, run `mros2_sub_twist` app (https://github.com/mROS-base/mros2-host-examples) .

If you get logs below, which means success!!
8.If you get logs below, which means success!!

```
publishing Twist msg!!
Expand Down
55 changes: 15 additions & 40 deletions workspace/sub_pose/README.md
Original file line number Diff line number Diff line change
@@ -1,50 +1,36 @@
### Pose型通信動作確認用アプリ
# sub_pose

Pose型の通信の動作確認をするためのサンプルアプリです。
以下の手順で確認できます。

This is a sample application for Pose-type communication.
This is a sample application to subscribe `Pose` (`geometry_msgs::msg::Pose`) message.
Please follow the steps below.

1.Pose型は基本型ではなく任意型なので、まずその定義ファイルを用意する。
ただし、Pose型はPoint型,Quaternion型という任意型を含むので、その定義ファイルも用意する。

Since Pose-type is not built-in type, you need to prepare the Pose-type definition file.
Note that Pose-type has Point-type and Quaternion-type, which are also user-defined type, in it, so you need to prepare the Point-type and Quaternion-type definition file.
1.Since `Pose` type is not built-in type, you need to prepare the `Pose` type definition file. Note that `Pose` type has `Point` type and `Quaternion` type in it, which are not built-in type, so you need to prepare the `Point` type and `Quaternion` type definition file.

Point.msg
`Point.msg`
```
float64 x
float64 y
float64 z
```

Quaternion.msg
`Quaternion.msg`
```
float64 x
float64 y
float64 z
float64 w
```

Pose.msg
`Pose.msg`
```
geometry_msgs/msg/Point position
geometry_msgs/msg/Quaternion orientation
```

2.geometry_msgs/msgというディレクトリをcustom_msgsディレクトリ下に作成し、その下にこれらを配置する。

Make geometry_msgs/msg directory under custom_msgs directory, then set these definition files.
2.Make `geometry_msgs/msg` directory under `custom_msgs` directory, then set these definition files.

3.geometry_msgsディレクトリ下にmsg_settings.jsonというファイルを作成する。
以下のように、pubsubMsgsをkeyとするvalueに、通信を実際に行う型の定義ファイルのパスを全て、
配列として記載する。ただし、今回は内部にPoint型,Quaternion型を含む任意型であるPose型による通信を行うが、
その際Point型,Quaternion型のパスは記載しなくて良い。

Make msg_settings.json under geometry_msgs directory.
Then set all paths to each definition files used in this app at pubsubMsgs' value like below.
Note that Pose-type message is to be sent now and Pose-type has Point-type and Quaternion-type, but you don't have to include path to Point-type and Quaternion-type definition file.
3.Make `msg_settings.json` under `geometry_msgs` directory.
Then set all paths to each definition files you use in this app at `pubsubMsgs`'s value shown as below.
Note that `Pose` message is to be published and `Pose` type has `Point` type and `Quaternion` type, but you don't have to include path to ``Point` and `Quaternion` definition file.

```
{
Expand All @@ -55,26 +41,15 @@ Please follow the steps below.
```


4.workspaceディレクトリで、`make gen-msg msg=geometry_msgs`を実行する。
するとルートディレクトリに、mros2_msgs/geometry_msgs/msg/point.hpp, mros2_msgs/geometry_msgs/msg/quaternion.hpp およびmros2_msgs/geometry_msgs/msg/pose.hppが生成される。

Execute `make gen-msg msg=geometry_msgs` in workspace direcroty, then point.hpp, quaternion.hpp and pose.hpp will be generated in {root}/mros2_msgs/geometry_msgs/msg directory.
4.Execute `make gen-msg msg=geometry_msgs` in `workspace` direcroty, then `point.hpp`, `quaternion.hpp` and `pose.hpp` will be generated in `{root}/mros2_msgs/geometry_msgs/msg` directory.

5.workspaceディレクトリにて、`make app=sub_pose` によりアプリをビルドする。

Execute `make app=sub_pose` in workspace direcroty, then this app will be built.
5.Execute `make app=sub_pose` in `workspace` direcroty, then this app will be built.

6.Serial Console (picocomなど) を立ち上げて、初期化する。

Open serial console (ex. picocom) and initialize your micro computer board.

7.通信するホストデバイス上で、mros2-host-examples (https://github.com/mROS-base/mros2-host-examples) のmros2_pub_poseアプリを起動する。

On the host device to communicate with, run mros2_pub_pose app in mros2-host-examples (https://github.com/mROS-base/mros2-host-examples) .
6.Open serial console (ex. picocom) and initialize your micro computer board.

8.以下のようなログが確認できたら通信成功!
7.On the host device to communicate with, run mros2_pub_pose app (https://github.com/mROS-base/mros2-host-examples) .

If you get logs below, which means success!!
8.If you get logs below, which means success!!

```
subscribed Pose msg!!
Expand Down
14 changes: 7 additions & 7 deletions workspace/sub_uint16/README.md
Original file line number Diff line number Diff line change
@@ -1,15 +1,15 @@
### uint16型通信動作確認用アプリ
# sub_uint16

uint16型の通信の動作確認をするためのサンプルアプリです。
以下の手順で確認できます。
This is a sample application to subscribe `uint16` (`std_msgs::msg::Uint16`) message.
Please follow the steps below.

1.workspaceディレクトリにて、`make app=echoreply_uint16` によりアプリをビルド
1.Execute `make app=sub_uint16` in `workspace` direcroty, then this app will be built.

2.Serial Console (picocomなど) を立ち上げて、初期化
2.Open serial console (ex. picocom) and initialize your micro computer board.

3.hostのros2アプリからuint16型のmessageを送信
3.On the host device to communicate with, run `mros2_pub_uint16` app (https://github.com/mROS-base/mros2-host-examples) .

4.messageを受信、これを再びhostのros2アプリに向かって送信 (以下)
4.If you get logs below, which means success!!

```
Subscribed msg : 1
Expand Down

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