diff --git a/workspace/README.md b/workspace/README.md index df8a5cc..f4cf955 100644 --- a/workspace/README.md +++ b/workspace/README.md @@ -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` diff --git a/workspace/echoreply_string/README.md b/workspace/echoreply_string/README.md index 1e475a4..01c4988 100644 --- a/workspace/echoreply_string/README.md +++ b/workspace/echoreply_string/README.md @@ -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!! diff --git a/workspace/pub_float32/README.md b/workspace/pub_float32/README.md index c2d8c35..2f066bb 100644 --- a/workspace/pub_float32/README.md +++ b/workspace/pub_float32/README.md @@ -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!! diff --git a/workspace/pub_twist/README.md b/workspace/pub_twist/README.md index bd68886..b37aaa8 100644 --- a/workspace/pub_twist/README.md +++ b/workspace/pub_twist/README.md @@ -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. ``` { @@ -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!! diff --git a/workspace/sub_pose/README.md b/workspace/sub_pose/README.md index e06e824..c0eed6f 100644 --- a/workspace/sub_pose/README.md +++ b/workspace/sub_pose/README.md @@ -1,25 +1,18 @@ -### 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 @@ -27,24 +20,17 @@ Please follow the steps below. 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. ``` { @@ -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!! diff --git a/workspace/sub_uint16/README.md b/workspace/sub_uint16/README.md index 48267f4..52471e9 100644 --- a/workspace/sub_uint16/README.md +++ b/workspace/sub_uint16/README.md @@ -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