Getting-Started-with-ROS

This repository is designed to teach ROS2 (Robot Operating System 2) for beginners using the Jazzy distribution.

Getting Started

Prerequisites

• Docker
• Xming (for Windows users)

Setup

1. Start Docker:

   docker-compose up -d

2. Attach to Docker container:

   docker-compose exec ros bash

XServer Setup (Windows)

To forward video from Docker to the base OS, ensure you have Xming installed and running.

Running Talker and Listner

Building the code

1. Build the code inside the workspace directory:

   colcon build

2. Source the setup script inside the install folder:

   source install/setup.bash

Running the nodes

1. Run the Python talker node:

   ros2 run talker_listener_py talker

2. Run the Python listener node:

   ros2 run talker_listener_py listener

3. Run the C++ talker node:

   ros2 run talker_listener_cpp talker

4. Run the C++ listener node:

   ros2 run talker_listener_cpp listener

Experiment with Mixed Language Nodes

You can also experiment by running nodes written in different languages together. For example:

1. Run the C++ talker node and the Python listener node:

   ros2 run talker_listener_cpp talker
   ros2 run talker_listener_py listener

2. Run the Python talker node and the C++ listener node:

   ros2 run talker_listener_py talker
   ros2 run talker_listener_cpp listener

Running the Keystroke Talker

The keystroke talker node allows you to send keystrokes as messages. To run the keystroke talker node, follow these steps:

1. Run the keystroke talker node in C++:

   ros2 run talker_listner_cpp keyboard_talker_char

2. Run the keystroke talker node in python:

   ros2 run talker_listner_py keyboard_talker_char

This node will publish keystrokes to a topic, which can be subscribed to by other nodes. This will help you understand how ROS2 nodes written in different languages can communicate with each other.

• For more details on the implementation of the keystroke talker node in c++, please refer to the Keystroke Talker README.
• For more details on the implementation of the keystroke talker node in Python, please refer to the Keystroke Talker README.

License

This project is licensed under the GNU General Public License v3.0.