search

Karsten1987 / confbot_robot

workspace comprising demo packages for our roscon2018 talk
Apache License 2.0
10 stars 8 forks source link

make confbot_laser a component #37

Closed mikaelarguedas closed 5 years ago

mikaelarguedas commented 5 years ago

This seem to work so far.

I loaded the component into it's own container to keep it semantically separated from the driver ones.

How I tested it:

# Shell 1
ros2 launch confbot_bringup confbot_bringup.launch.py
# Shell 2
ros2 run rviz2 rviz2 -d `ros2 pkg prefix confbot_bringup --share`/config/confbot.rviz
# Shell 3
ros2 lifecycle set /confbot_laser 1
ros2 lifecycle set /confbot_laser 3
ros2 component list
ros2 component unload /confbot_sensors_container 1
ros2 component types
ros2 component load /confbot_sensors_container confbot_sensors confbot_sensors::nodes::ConfbotLaser
ros2 lifecycle set /confbot_laser 1
ros2 lifecycle set /confbot_laser 3

Note: the terminal with the launch file will not print anything for the component once it's been unloader -> reloaded

Karsten1987 commented 5 years ago

looks like we've had the same idea here