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mturtle_teleop

This is a sample application along with mturtlesim (mros2 dedicated version of turtlesim).

The mROS 2 node on the embedded board publishes Twist (geometry_msgs::msg::Twist) message to /turtle1/cmd_vel topic, according to the input from keyboard via serial console. The feature is almost the same as ros2/teleop_twist_keyboard.

Generate header files for Twist

See detail in <repo_root>/README.md#generating-header-files-for-custom-msgtypes.

Build and Run for embedded devices

Make sure to set app=mturtle_teleop as make option.

### build the application
$ pwd
<snip.>/mros2-mbed
$ ./build.bash all NUCLEO_F767ZI mturtle_teleop
<snip.>
Total Static RAM memory (data + bss): 73880(+73880) bytes
Total Flash memory (text + data): 355652(+355652) bytes

### connect the board and then copy the binary manually.
$ cp cmake_build/NUCLEO_F767ZI/develop/GCC_ARM/mros2-mbed.bin /media/${USER}/NODE_F767ZI/

Host operation for native ROS 2

Since the current version of does not support the QoS control, the original version of turtlesim could not work well with this application. So please use the following repository (that is customized for mros2) to clone repository and build package.

$ cd <your_ros2_ws>/src
# When you use Foxy as the host, please change the branch to `mros2/foxy-devel`
$ git clone -b mros2/humble-devel https://github.com/mROS-base/ros_tutorials
$ cd ..
$ colcon build --packages-select mturtlesim
$ source install/local_setup.bash

Expected output

serial console for the baord with mros2

$ picocom -b 115200 /dev/ttyACM0
<snip.>
mbed mros2 start!
app name: mturtle_teleop_joy
[MROS2LIB] mros2_init task start
mROS 2 initialization is completed

[MROS2LIB] create_node
[MROS2LIB] start creating participant
[MROS2LIB] successfully created participant
[MROS2LIB] create_publisher complete.
[MROS2LIB] Initilizing Domain complete
ready to pub/sub message

keymap to move arround:
------------------
   u    i    o
   j    k    l
   m    ,    .
------------------
q/z : increase/decrease max speeds by 10 percent
w/x : increase/decrease only linear speed by 10 percent
e/c : increase/decrease only angular speed by 10 percent
currently: speed 0.5000 / turn 1.0000

terminal console on the host

$ ros2 run mturtlesim turtlesim_node
<snip.>
[INFO] [1647589190.956007464] [mturtlesim]: Starting mturtlesim with node name /mturtlesim
[INFO] [1647589190.957948401] [mturtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
[INFO] [1647589195.831260526] [mturtlesim]: subscribed Twist msg from mros2
[INFO] [1647589196.422450459] [mturtlesim]: subscribed Twist msg from mros2
[INFO] [1647589196.934933835] [mturtlesim]: subscribed Twist msg from mros2
<cont.>