using the ros2 communication feature
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C++ Version
Windows
Installing Chocolatey
Install it by following the instructions on the following page.
Installing Python3
Install it using the following command.
> choco install -y python
Installing OpenSSL
Download Win64OpenSSL-1_0_2r.exe from the following page, then run it to install.
Set the following environment variable.
| OPENSSL_CONF | C:\OpenSSL-Win64\bin\openssl.cfg |
Add C:\OpenSSL-Win64\bin to the PATH environment variable.
Installing asio, eigen, tinyxml, tinyxml-usestl, and log4cxx
Download the NuGet package (.nupkg) files from the following page.
- https://github.com/ros2/choco-packages/releases
Install them using the following command. Since additional dependent NuGet packages may be required, modify the command as appropriate.
> choco install -y -s <**'Downloaded path**'> asio eigen tinyxml-usestl tinyxml2 log4cxx
Installing Python Packages
Install them using the following command.
> python -m pip install -U catkin_pkg empy pyparsing pyyaml setuptools
Installing ROS2
Download ros2--**-windows-release-amd64.zip** from the following page.
- https://github.com/ros2/ros2/releases
Extract it to C:\dev\ros2 or another suitable location to complete the installation.
Building OpenRTM-aist
Before running CMake, execute the script to configure the ROS2 environment.
> call C:\dev\ros2\local_setup.bat
Turn ON the FASTRTPS_ENABLE and ROS2_ENABLE options when running CMake.
> cmake -DORB_ROOT=C:/workspace/omniORB-4.2.3-win64-vc14 -G "Visual Studio 16 2019" -A x64 -DFASTRTPS_ENABLE=ON -DROS2_ENABLE=ON ..
The remaining steps are the same as the standard build procedure.
Install it to an appropriate location.
Specify the installation directory using the CMAKE_INSTALL_PREFIX option.
> cmake .. -DCMAKE_INSTALL_PREFIX=C:/workspace/OpenRTM-aist/build_omni/install
> cmake --build . --config Release --target install
Operation Check
Run the sample components located in <‘Installation path’>\2.0.0\Components\C++\Examples\vc14.
Create an rtc.conf file with the following contents.
manager.modules.load_path: {Installation path}\\2.0.0\\ext\\transport
manager.modules.preload: FastRTPSTransport.dll, ROS2Transport.dll
manager.components.preconnect: ConsoleOut0.in?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.topic=chatter, ConsoleIn0.out?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.topic=chatter
manager.components.preactivation: ConsoleOut0, ConsoleIn0
| : manager.module.load_path | Location where the serializer modules (FastRTPSTransport.dll and ROS2Transport.dll) are stored |
| : manager.modules.preload | Specifies the order in which the serializer modules are loaded |
| : manager.components.preconnect | Describes the settings for connector creation. Specify fast-rtps for interface_type (interface type), the corresponding serializer name for marshaling_type (marshaling type), and any arbitrary name for fast-rtps.topic (topic). |
The relationship between the serializers for ROS/ROS2 and the corresponding ROS/ROS2 message types is shown at the following link.
Connector creation is configured using the manager.components.preconnect option.
In this example, connectors are created for the in port of the ConsoleOut0 component and the out port of the ConsoleIn0 component.
Before execution, add the following directories to the PATH environment variable.
- <‘Installation path’>\2.0.0\bin\vc14
- <‘Installation path’>\2.0.0\omniORB\4.2.3_vc14\bin\x86_win32
- C:\dev\ros2\bin
- C:\ProgramData\chocolatey\lib\tinyxml2\lib
- C:\ProgramData\chocolatey\lib\log4cxx\lib
Communication becomes available after running ConsoleInComp.exe and ConsoleOutComp.exe.
Ubuntu
Installing ROS2
Install it using the following commands.
$ curl http://repo.ros2.org/repos.key | sudo apt-key add -
$ sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
$ export ROS_DISTRO=crystal
$ sudo apt update
$ sudo apt install ros-${ROS_DISTRO}-ros-core
Configure bash for ROS2 as follows. (This sets up both future bash sessions and the currently running bash session.)
echo "source /opt/ros/crystal/setup.bash" >> ~/.bashrc
source ~/.bashrc
Building OpenRTM-aist
Turn ON the FASTRTPS_ENABLE and ROS2_ENABLE options when running CMake.
$ cmake -DCORBA=omniORB -DCMAKE_BUILD_TYPE=Release -DFASTRTPS_ENABLE=ON -DROS2_ENABLE=ON ..
The remaining steps are the same as the standard build procedure.
Install it after building.
$ cmake --build . --target install
Operation Check
Create the following rtc.conf.
manager.modules.load_path: /usr/local/lib/openrtm-2.0/transport/
manager.modules.preload: FastRTPSTransport.so, ROS2Transport.so
manager.components.preconnect: ConsoleOut0.in?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.topic=chatter, ConsoleIn0.out?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.topic=chatter
manager.components.preactivation: ConsoleOut0, ConsoleIn0
| : manager.module.load_path | Location where the serializer modules (FastRTPSTransport.so and ROS2Transport.so) are stored |
| : manager.modules.preload | Specifies the order in which the serializer modules are loaded |
| : manager.components.preconnect | Describes the settings for connector creation. Specify fast-rtps for interface_type (interface type), the corresponding serializer name for marshaling_type (marshaling type), and any arbitrary name for fast-rtps.topic (topic). |
The message types supported by the OpenRTM-aist serializers are shown below.
Start the RTCs to verify operation.
Start each one from a separate terminal.
/usr/local/share/openrtm-2.0/components/c++/examples/ConsoleInComp
/usr/local/share/openrtm-2.0/components/c++/examples/ConsoleOutComp
Python Version
Windows
Install ROS2 using the same procedure as for the C++ version.
Installing OpenRTM-aist
Install OpenRTM-aist 1.2 or later using the installer.
Obtain the source code for the Python version of OpenRTM-aist.
Install the Python version of OpenRTM-aist using the following commands.
python setup.py build
python setup.py install
Operation Check
Execute the following command before running.
call C:\dev\ros2\setup.bat
Create an rtc.conf file as shown below, load ROS2Transport.py, and start it with opensplice specified as the interface type.
manager.modules.load_path: C:\\Python37\\Lib\\site-packages\\OpenRTM_aist\\ext\\transport\\ROS2Transport
manager.modules.preload: ROS2Transport.py
manager.components.preconnect: ConsoleOut0.in?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32&ros2.topic=chatter, ConsoleIn0.out?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32&ros2.topic=chatter
manager.components.preactivation: ConsoleOut0, ConsoleIn0
| : manager.module.load_path | Location where the serializer module (ROS2Transport.py) is stored |
| : manager.modules.preload | Specifies the order in which the serializer module is loaded |
| : manager.components.preconnect | Describes the settings for connector creation. Specify ros2 for interface_type (interface type), the corresponding serializer name for marshaling_type (marshaling type), and any arbitrary name for ros2.topic (topic). |
Ubuntu
Installing ROS2
Install it using the following commands.
$ curl http://repo.ros2.org/repos.key | sudo apt-key add -
$ sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
$ export ROS_DISTRO=crystal
$ sudo apt update
$ sudo apt install ros-${ROS_DISTRO}-desktop
Configure bash to load the ROS2 environment.
$ echo "source /opt/ros/crystal/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
$ sudo apt-get install python-omniorb-omg omniidl-python doxygen
Installing OpenRTM-aist
Obtain the source code for the Python version of OpenRTM-aist.
Build and install the Python version of OpenRTM-aist using the following commands.
$ python setup.py build
$ python setup.py install
Operation Check
Executing ros2’s setup.bash appears to overwrite PYTHONPATH, so execute the following commands.
$ export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.6/site-packages
$ export PATH=$PATH:/usr/local/lib/python3.6/site-packages/
Modify the paths according to the directory where omniORBpy is installed.
Create an rtc.conf file as shown below, load ROS2Transport.py, and configure it to start with ros2 as the interface type and ros2:std_msgs/Float32 as the serializer.
manager.modules.load_path: /usr/local/lib/python3.6/site-packages/OpenRTM_aist/ext/transport/ROS2Transport/
manager.modules.preload: ROS2Transport.py
manager.components.preconnect: ConsoleOut0.in?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32&ros2.topic=chatter, ConsoleIn0.out?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32&ros2.topic=chatter
manager.components.preactivation: ConsoleOut0, ConsoleIn0
The message types supported by the OpenRTM-aist serializers are shown below.
Verify operation by starting the RTCs with the following commands.
$ python /usr/local/share/openrtm-2.0/components/python/SimpleIO/ConsoleIn.py
$ python /usr/local/share/openrtm-2.0/components/python/SimpleIO/ConsoleOut.py
Startup Options
C++
Configure the Fast DDS Communication Feature Options.
Python
The following options can be configured.
| Option Name | Example Setting | Description |
|---|---|---|
| ros2.args | args argument of rclpy.init |
|
| ros2.node.name | node_name | Node name |
Connection Options
C++
Configure the Fast DDS Communication Feature Options.
Python
The items that can be configured at connection time are as follows.
| Option Name | Default Value | Option | Description | |
|---|---|---|---|---|
| marshaling_type | Type of serializer. Values such as ros:std_msgs/Float32 can be set. | |||
| ros2.topic | chatter | DDS topic name | ||
| ros2.reader_qos.durability.kind | TRANSIENT_DURABILITY_QOS | VOLATILE_DURABILITY_QOS, TRANSIENT_LOCAL_DURABILITY_QOS, SYSTEM_DEFAULT_QOS | Durability on the sending side (VOLATILE_DURABILITY_QOS: volatile, TRANSIENT_LOCAL_DURABILITY_QOS: transient local setting) | |
| ros2.reader_qos.deadline.period.sec | 0 | Minimum period on the receiving side | ||
| ros2.reader_qos.deadline.period.nanosec | 0 | |||
| ros2.reader_qos.liveliness.kind | AUTOMATIC_LIVELINESS_QOS | AUT0TOMATIC_LIVELINESS_QOS, MANUAL_BY_TOPIC_LIVELINESS_QOS, SYSTEM_DEFAULT_LIVELINESS_QOS | ||
| ros2.reader_qos.liveliness.lease_duration.sec | 0 | Heartbeat period on the receiving side | ||
| ros2.reader_qos.liveliness.lease_duration.nanosec | 0 | |||
| ros2.reader_qos.reliability.kind | RELIABLE_RELIABILITY_QOS | BEST_EFFORT_RELIABILITY_QOS, RELIABLE_RELIABILITY_QOS, SYSTEM_DEFAULT_RELIABILITY_QOS | Reliability on the receiving side (RELIABLE_RELIABILITY_QOS: high reliability, BEST_EFFORT_RELIABILITY_QOS: maximum speed) | |
| ros2.reader_qos.history.kind | KEEP_LAST_HISTORY_QOS | KEEP_LAST_HISTORY_QOS, KEEP_ALL_HISTORY_QOS, SYSTEM_DEFAULT_HISTORY_QOS | How received data is retained (KEEP_ALL_HISTORY_QOS: retain all data, KEEP_LAST_HISTORY_QOS: retain only the number of data items specified) | KEEP_LAST |
| ros2.reader_qos.history.depth | 1 | Number of data items retained on the receiving side | ||
| ros2.reader_qos.lifespan.duration.sec | 0 | |||
| ros2.reader_qos.lifespan.duration.nanosec | 0 | |||
| ros2.reader_qos.avoid_ros_namespace_conventions | YES | YES, NO | ||
| ros2.writer_qos.durability.kind | TRANSIENT_DURABILITY_QOS | VOLATILE_DURABILITY_QOS, TRANSIENT_LOCAL_DURABILITY_QOS, SYSTEM_DEFAULT_QOS | Durability on the sending side (VOLATILE_DURABILITY_QOS: volatile, TRANSIENT_LOCAL_DURABILITY_QOS: transient local setting) | |
| ros2.writer_qos.deadline.period.sec | 0 | Minimum period on the sending side | ||
| ros2.writer_qos.deadline.period.nanosec | 0 | |||
| ros2.writer_qos.liveliness.kind | AUTOMATIC_LIVELINESS_QOS | AUTOMATIC_LIVELINESS_QOS, MANUAL_BY_TOPIC_LIVELINESS_QOS, SYSTEM_DEFAULT_LIVELINESS_QOS | ||
| ros2.writer_qos.liveliness.lease_duration.sec | 0 | Heartbeat period on the sending side | ||
| ros2.writer_qos.liveliness.lease_duration.nanosec | 0 | |||
| ros2.writer_qos.reliability.kind | RELIABLE_RELIABILITY_QOS | BEST_EFFORT_RELIABILITY_QOS, RELIABLE_RELIABILITY_QOS, SYSTEM_DEFAULT_RELIABILITY_QOS | Reliability on the sending side (RELIABLE_RELIABILITY_QOS: high reliability, BEST_EFFORT_RELIABILITY_QOS: maximum speed) | |
| ros2.writer_qos.history.kind | KEEP_LAST_HISTORY_QOS | KEEP_LAST_HISTORY_QOS, KEEP_ALL_HISTORY_QOS, SYSTEM_DEFAULT_HISTORY_QOS | How sent data is retained (KEEP_ALL_HISTORY_QOS: retain all data, KEEP_LAST_HISTORY_QOS: retain only the number of data items specified) | |
| ros2.writer_qos.history.depth | 1 | Number of data items retained on the sending side | ||
| ros2.writer_qos.lifespan.duration.sec | 0 | Retention time for unsent data on the sending side | ||
| ros2.writer_qos.lifespan.duration.nanosec | 0 | |||
| ros2.writer_qos.avoid_ros_namespace_conventions | YES | YES, NO |
The following shows a configuration example.
manager.components.preconnect: ConsoleOut0.in?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32, ConsoleIn0.out?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32
Simple Operation Check
When OpenRTM-aist is built and installed, a configuration file for a simple operation check of ROS2Transport is installed.
D:\ros2-windows\setup.bat
%RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
%RTM_ROOT%\Components\C++\Examples\vc16\ConsoleOutComp.exe -f %RTM_ROOT%\ext\transport\rtc.ros2.conf
source /opt/ros/dashing/setup.sh
source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/transport/rtc.ros2.conf