C++/ROS 2 Navigation Interfaces

Author:

• Maximilian Nitsch m.nitsch@irt.rwth-aachen.de

Affiliation: Institute of Automatic Control - RWTH Aachen University

Maintainer:

• Maximilian Nitsch m.nitsch@irt.rwth-aachen.de

Contributors:

• Till Koch tiko@uni-bremen.de
• Philippe Panten p.panten@tu-braunschweig.de

Description

Dedicated Repo for Interfaces (Messages, Services, Actions) of ROS 2 Navigation Packages.

The simulator implements the following interface packages:

• Sensor driver (and simulator) interfaces
• Navigation interfaces

Table of Contents

• Dependencies
• Installation
• Further Reading
• Contributing
• License

Dependencies

This project depends on:

• ROS 2 Humble: ROS 2 is a set of software libraries and tools for building robot applications: ROS 2 Installation page.

Installation

To install the navigation interfaces, you need to follow these steps:

1. Install ROS 2 Humble: Ensure you have ROS 2 (Humble) installed. You can follow the official installation instructions provided by ROS 2. Visit ROS 2 Humble Installation page for detailed installation instructions tailored to your platform.

2. Clone the Package: Clone the package repository to your ROS 2 workspace. If you don't have a ROS 2 workspace yet, you can create one using the following commands:

   mkdir -p /path/to/ros2_workspace/src
   cd /path/to/ros2_workspace/src

   Now, clone the package repository:

   git clone <repository_url>

   Replace <repository_url> with the URL of your package repository.

3. Build the Package: Once the package is cloned, you must build it using colcon, the default build system for ROS 2. Navigate to your ROS 2 workspace and run the following command:

   cd /path/to/ros2_workspace
   colcon build

   This command will build all the packages in your workspace, including the newly added package.

4. Using Navigation-Interfaces in Your ROS 2 Package

   To use the interfaces (messages, services, actions) provided by Navigation-Interfaces in your own ROS 2 package, follow these steps:

   In your package's package.xml, add:

   <depend>nanoauv_sensor_driver_interfaces</depend>
   <depend>navigation_interfaces</depend>

   In your package's CMakeLists.txt, add:

   find_package(nanoauv_sensor_driver_interfaces REQUIRED)
   find_package(navigation_interfaces REQUIRED)
   
   ament_target_dependencies(your_node_target
     rclcpp
     nanoauv_sensor_driver_interfaces
     navigation_interfaces
   )

That's it! Your interfaces should now be installed and ready to use in your ROS 2 environment.

Further Readings:

• https://docs.ros.org/en/humble/Concepts/Basic/About-Interfaces.html
• https://roboticsbackend.com/ros2-create-custom-message/
• https://design.ros2.org/articles/legacy_interface_definition.html

Contributing

If you'd like to contribute to the project, see the CONTRIBUTING file for details.

License

This project is licensed under the BSD-3-Clause License. Please look at the LICENSE file for details.