/ros-simple-pub-sub

Learning ROS and it's publisher-subscriber architecture

Primary LanguageMakefile

Publisher Subscriber with ROS

Environment setup for Ubuntu 20.04

This repo follows ROS Noetic.

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-desktop-full

If you're using bash:

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

For zsh:

echo "source /opt/ros/noetic/setup.zsh" >> ~/.zshrc
source ~/.zshrc

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt install python3-rosdep
sudo rosdep init
rosdep update

Check to ensure if all environment variables are set up :

printenv | grep ROS

We'll use catkin for this project. Create and build a catkin workspace by running the following commands :

mkdir -p ~/catkin_ws
cd ~/catkin_ws/
catkin_make

Run the code

roscd beginner_tutorials
cd scripts
chmod +x talker.py
chmod +x listener.py

Navigate to catkin_ws/src/beginner_tutorials and add the following lines to CMakeLists.txt :

catkin_install_python(PROGRAMS scripts/talker.py scripts/listener.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

Now navigate to the catkin workspace and build :

cd ~/catkin_ws
catkin_make

Now, run the code using following steps :

  1. Open a terminal, run roscore
  2. Open a new terminal, run source ./devel/setup.bash && rosrun beginner_tutorials talker.py
  3. Open another terminal, run source ./devel/setup.bash && rosrun beginner_tutorials listener.py