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ROS2 linkage

　

"ROS" (Robot Operating System) is an open-source software library and tool suite that facilitates the construction of robot applications, provided by the Open Source Robotics Foundation, Inc.

ACUAH uses the ROS packages from Unity Technologies, ROS-TCP-Connector and ROS-TCP-Endpoint.

It is also the framework for ROS2.

　

ACUAH's ROS2 operation check is performed using a Raspberry Pi 3 Model B+ as the connected ROS2 node.

1. Sending a message from ACUAH to the ROS2 node​

Supplemental explanation of main functions - ROS2

  • In this configuration example, the IP address of the ROS2 node (ROS-TCP-Endpoint side) is 192.168.1.10 and the port number is 10000.
  • Edit the topic name when sending a message from ACUAH to ROS2. The default is "/strings".
  • If the topic name does not start with a "/", it will be automatically appended.
  • A string in the format of std_msgs/msg/String will be sent.

2. Sending a message from the ROS2 node to ACUAH​

Supplementary explanation of main functions - ROS2 collaboration

  • The topic name for sending messages from the ROS2 node to ACUAH is "/acuah".
  • Please note that the topic name cannot be changed.
  • A string in the format std_msgs/msg/String will be sent.
　

When ROS2 setting is configured, the character display screen will automatically enable the reception of ROS2 messages from the set IP address. (Communication with the ROS2 node must be possible when the character display screen is started).