lab1_pkg

Overview

lab1_pkg is a ROS 2 package developed for educational purposes, demonstrating basic ROS 2 concepts including creating publishers and subscribers, working with parameters, and using custom messages. This package includes examples of a minimal publisher/subscriber using rclpy and the ackermann_msgs message for Ackermann steering vehicles.

Features

• Talker Node: Publishes AckermannDriveStamped messages with configurable speed and steering angle parameters.
• Relay Node: Subscribes to AckermannDriveStamped messages, modifies the values, and republishes them.

Prerequisites

Before you begin, ensure you have met the following requirements:

• ROS 2 Foxy Fitzroy (or later) installed on your system
• Basic knowledge of ROS 2 concepts and command-line tools

Installation

To install lab1_pkg, follow these steps:

1. Navigate to your ROS 2 workspace's src directory:

   cd ~/ros2_ws/src

2. Clone the repository:

   git clone https://github.com/CouncilFox/F1TenthLab1.git lab1_pkg

3. Build the package:

   cd ~/ros2_ws
   colcon build --packages-select lab1_pkg

4. Source the ROS 2 environment:

   source ~/ros2_ws/install/setup.bash

Usage

To use lab1_pkg, run the following commands in separate terminals:

• To launch the talker node:

  ros2 run lab1_pkg talker

• To launch the relay node:

  ros2 run lab1_pkg relay

• To set parameters for the talker node:

  ros2 param set /talker v 1.0
  ros2 param set /talker d 0.5

Launching with a Launch File

You can also launch both nodes using the provided launch file:

ros2 launch lab1_pkg lab1_launch.py