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ipa320 / RosTooling

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Question: ROS2 model #167

Open peter-nebe opened 3 years ago

peter-nebe commented 3 years ago

Hello Maintainers, I have a ROS2 system and I want to create a model of it. The tutorials only work for ROS1, right? Is there any way to make a ROS2 model, for example for galactic? It is a very simple system, consisting of a publisher and a subscriber, that defines its own message. Any help is greatly appreciated. Thanks!

ipa-nhg commented 3 years ago

@peter-nebe thanks for your interested.

ROS2 is already supported by the models, the documentation will be submitted soon.

To define a package as a ROS2 one you only have to open the .ros file with a text editor and where it says "CatkinPackage" modify the attribute to "AmentPackage".

At system level the backend will detect automatically that your system is composed by ROS2 nodes and will generate automatically the ROS2 launch file. No changes are needed.

peter-nebe commented 3 years ago

Thank you for your quick response. That sounds great.

I generated the model of the message with the cloud ROS Model Extractor. It is important that you enter melodic or noetic as the Ros version, and not foxy. (This .ros file does not contain the "CatkinPackage" attribute.)

To create the model for a node, I used this tutorial as a guide, starting with "Add new Ros Project". (The web interface "Node analysis" didn't work for me.) In the .ros file of the node I then replaced "Catkin ..." with "Ament ...".

Next, I'll try to create a complete ROS system. Thanks again for your help!