ROS2 dev setup

Vagrant file to build a VM to test ROSiE with ROS2.

Use the VM

Create, provision and connect to the VM, it may take some time to install all ros2 software.

vagrant up
vagrant ssh

Once inside the vagrant VM you can start ROS2 nodes, for example:

ros2 run demo_nodes_cpp talker

ros2 run demo_nodes_cpp listener

ROS2 is configured to use CYCLONE DDS and use the eth1 as Network Interface internal to the VM. This should put every ROS2 node on the same public network your host is running. Now you should be able to get ROS2 topic traffic in your ROSiE nodes running on you host. You can test this cloning rosie_demos and running:

rebar3 shell --apps listener

rebar3 shell --apps talker

Additional Python Nodes

The nodes directory is synched with the VM and is usefull to implement ROS2 nodes using python.

Fragmentation test example

Start a ROS2 rclpy node in the VM:

$ vagrant ssh
vagrant@vagrant:~$ python3 frag_publisher.py

In the rosie_demos project folder on the host:

rebar3 shell --apps fragment_listener