icey_examples

ICEY Examples

Examples on how to use the ICEY library.

They demonstrate:

• Using the icey::Context for both regular and lifecycle Nodes
• Synchronous-looking service calls using async/await
• Actions using async/await
• Simple publisher/subscriptions, demonstrating Streams
• Automatic synchronization between multiple topics
• Looking up transforms using async/await
• Subscribing single transforms
• Synchronizing topics with transforms
• Transform broadcasting
• Using image transport subscriptions/publishers

Run service example

Run the service client:

ros2 run icey_examples service_client_async_await_example

It should start printing:

[INFO 1739536174.336721959] [signal_generator_async_await_example]: Timer ticked, sending request: 1
[INFO 1739536175.336992943] [signal_generator_async_await_example]: Service1 got error: SERVICE_UNAVAILABLE
[INFO 1739536176.337142245] [signal_generator_async_await_example]: Service2 got error: SERVICE_UNAVAILABLE
[INFO 1739536176.337245071] [signal_generator_async_await_example]: Timer ticked, sending request: 1
[INFO 1739536177.337368092] [signal_generator_async_await_example]: Service1 got error: SERVICE_UNAVAILABLE
[INFO 1739536178.337532123] [signal_generator_async_await_example]: Service2 got error: SERVICE_UNAVAILABLE
[INFO 1739536178.337611589] [signal_generator_async_await_example]: Timer ticked, sending request: 1
[INFO 1739536179.337728093] [signal_generator_async_await_example]: Service1 got error: SERVICE_UNAVAILABLE
...

Then, in another terminal, run the service server:

ros2 run icey_examples service_server_example --ros-args -p service_name:=set_bool_service

Which should print:

[INFO 1739536197.338006812] [signal_generator_async_await_example]: Got response1: 0
[INFO 1739536198.337306617] [signal_generator_async_await_example]: Timer ticked, sending request: 1
[INFO 1739536198.337861565] [signal_generator_async_await_example]: Got response1: 0
[INFO 1739536198.338268818] [signal_generator_async_await_example]: Got response1: 0
[INFO 1739536199.337331935] [signal_generator_async_await_example]: Timer ticked, sending request: 1
[INFO 1739536199.337942713] [signal_generator_async_await_example]: Got response1: 0
[INFO 1739536199.338201448] [signal_generator_async_await_example]: Got response1: 0
[INFO 1739536200.337282427] [signal_generator_async_await_example]: Timer ticked, sending request: 1
[INFO 1739536200.337812212] [signal_generator_async_await_example]: Got response1: 0
[INFO 1739536200.337953596] [signal_generator_async_await_example]: Got response1: 0

And now the the service client prints:

[INFO 1739536197.337218652] [signal_generator_async_await_example]: Timer ticked, sending request: 1
[INFO 1739536197.337773922] [signal_generator_async_await_example]: Got response1: 0
[INFO 1739536197.338006812] [signal_generator_async_await_example]: Got response1: 0
[INFO 1739536198.337306617] [signal_generator_async_await_example]: Timer ticked, sending request: 1
[INFO 1739536198.337861565] [signal_generator_async_await_example]: Got response1: 0
[INFO 1739536198.338268818] [signal_generator_async_await_example]: Got response1: 0
...

Run asynchronous service server example:

Start the asynchronous server:

ros2 run icey_examples service_server_async_await_example

And the upstream server:

ros2 run icey_examples service_server_example --ros-args -p service_name:=set_bool_service_upstream

And now the service client:

ros2 run icey_examples service_client_async_await_example

You should now receive responses and see how both servers receive requests.

Actions using async/await

Run action server:

ros2 run icey_examples action_server_async_await_example

And the action client:

ros2 run icey_examples action_client_async_await_example

TF lookup using async/await

Start the subscription:

ros2 run icey_examples tf_lookup_async_await_example 

And now the driver:

ros2 run icey_examples tf_pub_test_example 

The subscription should print regularly on every lookup.

TF subscription example

Start the TF broadcaster:

ros2 run icey_examples tf_broadcaster_example 

Now the TF subscriber:

ros2 run icey_examples tf_subscription_example 

It should print on every transform the transformation matrix:

[INFO 1756324909.237720717] [icey_tf_subscription_example]: Received a new transform:
-0.446485 -0.894791         0       7.3
 0.894791 -0.446485         0       -73
        0         0         1         0
        0         0         0         1

Lifecycle node example

This example node spins and can be activated and deactivated.

Run it:

ros2 run icey_examples lifecycle_node_example

Then, from a second terminal deactivate it:

ros2 lifecycle set /lifecycle_node_example shutdown

And then activate it again:

ros2 lifecycle set /lifecycle_node_example shutdown