From 5914bbe8f1edfecc08df17219731487c60add39e Mon Sep 17 00:00:00 2001 From: Ruben Arts Date: Thu, 17 Oct 2024 16:19:00 +0200 Subject: [PATCH] docs: add ros noetic example (#2271) --- examples/turtlesim/README.md | 58 +- examples/turtlesim/pixi.lock | 111595 +++++++++++----- examples/turtlesim/pixi.toml | 30 +- examples/turtlesim/turtle_marker_viz_ROS1.py | 59 + examples/turtlesim/turtle_marker_viz_ROS2.py | 72 + 5 files changed, 81293 insertions(+), 30521 deletions(-) create mode 100644 examples/turtlesim/turtle_marker_viz_ROS1.py create mode 100644 examples/turtlesim/turtle_marker_viz_ROS2.py diff --git a/examples/turtlesim/README.md b/examples/turtlesim/README.md index 8de8f8169..6c6f6af3c 100644 --- a/examples/turtlesim/README.md +++ b/examples/turtlesim/README.md @@ -1,10 +1,13 @@ -# Simple ROS2 turtlesim example +# Simple ROS turtlesim example -Run this in two terminals. +## To run the ROS2 humble example +Run this in **two** terminals. ```shell pixi run start ``` -And +Select the `default` environment for all of the `humble` examples. + +And then ```shell pixi run teleop ``` @@ -15,3 +18,52 @@ There you can run any of the commands available in the environment. pixi shell ros2 topic echo /turtle1/cmd_vel ``` + +### Now run a script to visualize the turtle in rviz +Run this in **two** more terminals. +```shell +pixi run rviz +``` + +```shell +pixi run viz +``` + +## To run the ROS1 Noetic example + +Run this in **three** terminals. +```shell +# Start roscore +pixi run -e noetic core +``` +or without `-e noetic` and select the `noetic` environment for all of the `noetic` examples. + +```shell +# Start turtlesim +pixi run -e noetic start +``` + +```shell +pixi run -e noetic teleop +``` + +It is also possible to start a shell in the environment. +There you can run any of the commands available in the environment. +```shell +pixi shell -e noetic +rostopic echo /turtle1/cmd_vel +``` + +### Now run a script to visualize the turtle in rviz +Run this in **two** more terminals. +```shell +pixi run -e noetic rviz +``` + +```shell +pixi run -e noetic viz +``` + +Add the visual marker for the turtle to the displays in rviz. + +If you now teleop the turtle, you should see it move in rviz aswell now. diff --git a/examples/turtlesim/pixi.lock b/examples/turtlesim/pixi.lock index fb8a876f2..dcc983842 100644 --- a/examples/turtlesim/pixi.lock +++ b/examples/turtlesim/pixi.lock @@ -1,45 +1,50 @@ version: 5 environments: - 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libgcc-ng >=12 + - libzlib >=1.3.1,<2.0a0 + license: LGPL-2.0-or-later OR MPL-1.1 + size: 106915 + timestamp: 1719242059793 diff --git a/examples/turtlesim/pixi.toml b/examples/turtlesim/pixi.toml index c4285e64f..23abefae3 100644 --- a/examples/turtlesim/pixi.toml +++ b/examples/turtlesim/pixi.toml @@ -1,14 +1,34 @@ [project] authors = ["Ruben Arts "] -channels = ["conda-forge", "robostack-staging"] +channels = ["https://fast.prefix.dev/conda-forge", "robostack-staging"] description = "ultra fast turtlesim installation on multiple platforms" name = "turtlesim" platforms = ["linux-64", "win-64", "osx-64", "osx-arm64"] -[tasks] +# ROS2 Humble feature -------------------------------------- +[feature.humble.dependencies] +ros-humble-desktop = "0.10.0.*" +ros-humble-turtlesim = "1.4.2.*" + +[feature.humble.tasks] +rviz = "ros2 run rviz2 rviz2" start = "ros2 run turtlesim turtlesim_node" teleop = "ros2 run turtlesim turtle_teleop_key" +viz = "python turtle_marker_viz_ROS2.py" -[dependencies] -ros-humble-desktop = "0.10.0.*" -ros-humble-turtlesim = "1.4.2.*" +# ROS2 Humble feature -------------------------------------- +[feature.noetic.dependencies] +ros-noetic-desktop = ">=1.5.0,<2" +ros-noetic-turtlesim = ">=0.10.2,<0.11" + +[feature.noetic.tasks] +core = "roscore" +rviz = "rosrun rviz rviz" +start = "rosrun turtlesim turtlesim_node" +teleop = "rosrun turtlesim turtle_teleop_key" +viz = "python turtle_marker_viz_ROS1.py" + +[environments] +all = ["humble", "noetic"] +default = ["humble"] +noetic = { features = ["noetic"], no-default-feature = true } diff --git a/examples/turtlesim/turtle_marker_viz_ROS1.py b/examples/turtlesim/turtle_marker_viz_ROS1.py new file mode 100644 index 000000000..5dbe237f3 --- /dev/null +++ b/examples/turtlesim/turtle_marker_viz_ROS1.py @@ -0,0 +1,59 @@ +from math import sin, cos + +import rospy +from turtlesim.msg import Pose +from visualization_msgs.msg import Marker + + +def pose_callback(turtle_pose): + marker = Marker() + + # Marker settings + marker.header.frame_id = "map" + marker.header.stamp = rospy.Time.now() + marker.ns = "turtle_marker" + marker.id = 0 + marker.type = Marker.ARROW # Change to arrow + marker.action = Marker.ADD + + # Set the position of the marker based on turtle's pose + marker.pose.position.x = turtle_pose.x - 5.5 + marker.pose.position.y = turtle_pose.y - 5.5 + marker.pose.position.z = 0.0 + + # Set the orientation (turtle's heading in radians) + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = sin(turtle_pose.theta / 2.0) + marker.pose.orientation.w = cos(turtle_pose.theta / 2.0) + + # Set the scale of the arrow (length and width of the arrow) + marker.scale.x = 1.0 # Arrow length + marker.scale.y = 0.2 # Arrow width + marker.scale.z = 0.2 # Arrow height + + # Set the color (green arrow in this case) + marker.color.r = 0.0 + marker.color.g = 1.0 + marker.color.b = 0.0 + marker.color.a = 1.0 # Opaque + + # Lifetime of the marker (0 means it will stay forever) + marker.lifetime = rospy.Duration() + + # Publish the marker + marker_pub.publish(marker) + + +if __name__ == "__main__": + # Initialize the ROS node + rospy.init_node("turtle_marker_node", anonymous=True) + + # Publisher for RViz Marker + marker_pub = rospy.Publisher("/turtle_marker", Marker, queue_size=10) + + # Subscriber for the turtle pose + rospy.Subscriber("/turtle1/pose", Pose, pose_callback) + + # Keep the node running + rospy.spin() diff --git a/examples/turtlesim/turtle_marker_viz_ROS2.py b/examples/turtlesim/turtle_marker_viz_ROS2.py new file mode 100644 index 000000000..239b70c3e --- /dev/null +++ b/examples/turtlesim/turtle_marker_viz_ROS2.py @@ -0,0 +1,72 @@ +from math import sin, cos +import rclpy +from rclpy.node import Node +from turtlesim.msg import Pose +from visualization_msgs.msg import Marker +from builtin_interfaces.msg import Duration + + +class TurtleMarkerNode(Node): + def __init__(self): + super().__init__("turtle_marker_node") + + # Create publisher for RViz Marker + self.marker_pub = self.create_publisher(Marker, "/turtle_marker", 10) + + # Create subscriber for turtle pose + self.create_subscription(Pose, "/turtle1/pose", self.pose_callback, 10) + + def pose_callback(self, turtle_pose): + marker = Marker() + + # Marker settings + marker.header.frame_id = "map" + marker.header.stamp = self.get_clock().now().to_msg() + marker.ns = "turtle_marker" + marker.id = 0 + marker.type = Marker.ARROW # Arrow marker + marker.action = Marker.ADD + + # Set the position of the marker based on turtle's pose + marker.pose.position.x = turtle_pose.x - 5.5 + marker.pose.position.y = turtle_pose.y - 5.5 + marker.pose.position.z = 0.0 + + # Set the orientation (turtle's heading in radians) + marker.pose.orientation.x = 0.0 + marker.pose.orientation.y = 0.0 + marker.pose.orientation.z = sin(turtle_pose.theta / 2.0) + marker.pose.orientation.w = cos(turtle_pose.theta / 2.0) + + # Set the scale of the arrow (length and width of the arrow) + marker.scale.x = 1.0 # Arrow length + marker.scale.y = 0.2 # Arrow width + marker.scale.z = 0.2 # Arrow height + + # Set the color (green arrow) + marker.color.r = 0.0 + marker.color.g = 1.0 + marker.color.b = 0.0 + marker.color.a = 1.0 # Opaque + + # Lifetime of the marker (0 means it will stay forever) + marker.lifetime = Duration() + + # Publish the marker + self.marker_pub.publish(marker) + + +def main(args=None): + rclpy.init(args=args) + node = TurtleMarkerNode() + + # Keep the node spinning + rclpy.spin(node) + + # Shutdown once done + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main()