ROS2Transportのパラメータの情報を設定する #268
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@Nobu19800 下記手順で動作確認していますが、C++版PR1019で確認したパラメータがRTCのコンソール画面に出力されません。確認手順でおかしいところがあればご指摘お願いします。
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Author
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@n-kawauchi |
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@Nobu19800 RTSEでinterface_typeでfast-rtpsを選択してOKボタンを押す前にインターフェースオプションタブを開いた時、
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Author
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@n-kawauchi |
n-kawauchi
approved these changes
Nov 28, 2025
n-kawauchi
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PR325をマージしたところ、RTCのコンソール画面にパラメータが表示されることを確認できました。
- 修正ソースから作成したdebパッケージでインストールした環境のConsoleIn/ConsoleOutの接続で確認時、rtc.confに下記を追記
manager.modules.load_path: /usr/lib/python3/dist-packages/OpenRTM_aist/ext/transport/ROS2Transport/
manager.modules.preload: ROS2Transport.py
manager.components.preconnect: ConsoleOut0.in?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.topic=chatter, ConsoleIn0.out?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.topic=chatter
manager.components.preactivation: ConsoleOut0, ConsoleIn0
- RTC実行ターミナルで事前に下記を実行
$ source /opt/ros/jazzy/setup.bash
$ export PYTHONPATH=$PYTHONPATH:/usr/lib/python3/dist-packages
$ export PATH=$PATH:/usr/lib/python3/dist-packages/
- ポートのinterface_typeでfast-rtpsを選択して接続すると下記が出力された
$ python3 ./ConsoleOut.py -f rtc.conf
:
Listener: ON_CONNECT
Profile::name: ConsoleOut0.in_ConsoleIn0.out
Profile::id: 76fe73a4-cbfa-11f0-a2bd-c8e265a26188
Profile::properties:
- data_type: IDL:RTC/TimedLong:1.0
- interface_type: fast-rtps
- dataflow_type: push
- subscription_type: flush
- publisher
- push_policy: all
- outport
- buffer
- length: 8
- write
- full_policy: overwrite
- timeout: 1.0
- read
- empty_policy: readback
- timeout: 1.0
- topic: chatter, chatter
- writer_qos
- avoid_ros_namespace_conventions: YES, YES
- deadline
- period
- nanosec: 0, 0
- sec: 0, 0
- history
- depth: 1, 1
- kind: KEEP_LAST_HISTORY_QOS, KEEP_LAST_HISTORY_QOS
- lifespan
- duration
- nanosec: 0, 0
- sec: 0, 0
- liveliness
- kind: AUTOMATIC_LIVELINESS_QOS, AUTOMATIC_LIVELINESS_QOS
- lease_duration
- nanosec: 0, 0
- sec: 0, 0
- reliability
- kind: RELIABLE_RELIABILITY_QOS, RELIABLE_RELIABILITY_QOS
- inport
- buffer
- length: 8
- write
- full_policy: overwrite
- timeout: 1.0
- read
- empty_policy: readback
- timeout: 1.0
- reader_qos
- avoid_ros_namespace_conventions: YES, YES
- deadline
- period
- nanosec: 0, 0
- sec: 0, 0
- history
- depth: 1, 1
- kind: KEEP_LAST_HISTORY_QOS, KEEP_LAST_HISTORY_QOS
- lifespan
- duration
- nanosec: 0, 0
- sec: 0, 0
- liveliness
- kind: AUTOMATIC_LIVELINESS_QOS, AUTOMATIC_LIVELINESS_QOS
- lease_duration
- nanosec: 0, 0
- sec: 0, 0
- reliability
- kind: RELIABLE_RELIABILITY_QOS, RELIABLE_RELIABILITY_QOS
- topic: chatter, chatter
- data_type: IDL:RTC/TimedLong:1.0
:
n-ando
approved these changes
Dec 1, 2025
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