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ros_portal_tutorials

Ready-to-run configs for the ros_portal tutorials. They install to the package share, so the commands in docs/tutorials.md work out of the box after a build.

Contents

  • config/turtle_sim_config.yaml — turtle_sim side ROS Portal config.
  • config/turtle_sim_controller.yaml — controller side ROS Portal config.

Quick start

# turtle_sim side (ROS_DOMAIN_ID=42): sim, then ROS Portal
ros2 run turtlesim turtlesim_node
ros2 launch ros_portal ros_portal_local.launch.py \
  config_path:=$(ros2 pkg prefix --share ros_portal_tutorials)/config/turtle_sim_config.yaml \
  identity:=turtle_sim room_name:=turtle_room

# controller side (ROS_DOMAIN_ID=100): ROS Portal
ros2 launch ros_portal ros_portal_local.launch.py \
  config_path:=$(ros2 pkg prefix --share ros_portal_tutorials)/config/turtle_sim_controller.yaml \
  identity:=controller room_name:=turtle_room

See docs/tutorials.md for the full walkthrough.