arshPratap/ROS2_DDS_Service_Demo

Demo application to demonstrate communication between ROS2 and DDS domains based on service-client communication model

C

ROS2_DDS_Service_Demo

Architecture

Prerequisites

Install ROS-2 Humble
Install Micro-XRCE-Agent
Install Micro-XRCE-Client library
Install Integration Services :
- Get system handles for Fast-DDS
- Get system handles for ROS 2
- Install the integration service by running the following command : colcon build --cmake-args -DBUILD_FASTDDS_EXAMPLES=ON -DMIX_ROS_PACKAGES="example_interfaces"

DDS Server

Terminal 1 (XRCE-Agent)

Run XRCE Agent using the following command cd /usr/local/bin && MicroXRCEAgent udp4 -p 2019

Terminal 2 (XRCE-Client)

In the DDS_Server folder, compile the Server file as gcc Server.c -lmicrocdr -lmicroxrcedds_client
Run the Server script as ./a.out 127.0.0.1 2019

Terminal 3 (Integration Service)

Source ROS 2 installation
Source Integration Services from your workspace
Run the service using the following command integration-service fastdds_server__addtwoints.yaml from the DDS_Server folder

Terminal 4 (ROS-2)

Source ROS-2 installation
Run the ROS-2 client as ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 5, b: 17}"

ROS2 Server

Terminal 1 (ROS-2)

Source ROS-2 installation
Run the ROS-2 server as ros2 run demo_nodes_cpp add_two_ints_server

Terminal 2 (Integration Service)

Source ROS 2 installation
Source Integration Services from your workspace
Run the service using the following command integration-service ros2_server__addtwoints.yaml from the ROS2_Server folder

Terminal 3 (XRCE-Agent)

Run XRCE Agent using the following command cd /usr/local/bin && MicroXRCEAgent udp4 -p 2019

Terminal 4 (XRCE-Client)

In the ROS2_Server folder, compile the Client file as gcc Client.c -lmicrocdr -lmicroxrcedds_client
Run the Client script as ./a.out 127.0.0.1 2019