[rcleus] ROS2 client for eus - Githubissues

jsk-ros-pkg / jsk_roseus

ROS EusLisp Client

http://wiki.ros.org/roseus/Tutorials

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[rcleus] ROS2 client for eus #749

Open mqcmd196 opened 9 months ago

mqcmd196 commented 9 months ago

Just my hobby

TODO

1st phase

[x] Init rcl node
[ ] Publish simple topic like integer
[ ] Subscribe simple topic like integer
[ ] rosidl_generator_eus
[ ] Publish any topic
[ ] Subscribe any topic
2nd phase
[ ] Service call
[ ] Service server
3rd phase
[ ] Support tf
[ ] Support action

mqcmd196 commented 9 months ago

You can try my work on Ubuntu 22.04 PC with ros humble.

build

sudo apt install euslisp jskeus
mkdir -p ~/colcon_ws/src && cd ~/colcon_ws/src
git clone https://github.com/mqcmd196/jsk_roseus --branch ros2
mkdir -p jsk_roseus/rcleus/build && cd jsk_roseus/rcleus/build
source /opt/ros/humble/setup.bash
cmake .. && make -j(nproc)

exec

# at build directory
rlwrap irteusgl

then

load-library "librcleus.so" '("rcleus")
rcleus-raw "test" 1 '("param")

then you can check the node is initialized by ros2 node list .