examples/rust-ros2-dataflow/README.md

rust-ros2-dataflow Example

This example shows how to publish/subscribe to both ROS2 and Dora. The dataflow consists of a single node that sends random movement commands to the ROS2 turtlesim_node.

Setup

This examples requires a sourced ROS2 installation.

• To set up ROS2, follow the ROS2 installation guide.
• Don't forget to source the ROS2 setup files
• Follow tasks 1 and 2 of the ROS2 turtlesim tutorial
  • Install the turtlesim package
  • Start the turtlesim node through ros2 run turtlesim turtlesim_node
• In a separate terminal, start the /add_two_ints service: ros2 run examples_rclcpp_minimal_service service_main

Running

After sourcing the ROS2 installation and starting both the turtlesim node and the /add_two_ints service, you can run this example to move the turtle in random directions:

cargo run --example rust-ros2-dataflow --features ros2-examples

You should see a few random requests in the terminal where you started the examples_rclcpp_minimal_service.