From bb37faab1725dd9a74160dae4774dddaf6d1619e Mon Sep 17 00:00:00 2001 From: han J <89577994+owny990312@users.noreply.github.com> Date: Fri, 15 Nov 2024 15:27:31 +0800 Subject: [PATCH] add ros_plugin native start shell (#104) Co-authored-by: hanjun --- src/examples/plugins/ros2_plugin/README.md | 56 ++++--------------- ...s_plugins_ros2_plugin_native_pb_chn_pub.sh | 7 +++ ...s_plugins_ros2_plugin_native_pb_chn_sub.sh | 7 +++ ...lugins_ros2_plugin_native_pb_rpc_client.sh | 7 +++ ...lugins_ros2_plugin_native_pb_rpc_server.sh | 7 +++ ...plugins_ros2_plugin_native_ros2_chn_pub.sh | 8 +++ ...plugins_ros2_plugin_native_ros2_chn_sub.sh | 8 +++ ...gins_ros2_plugin_native_ros2_rpc_client.sh | 8 +++ ...gins_ros2_plugin_native_ros2_rpc_server.sh | 8 +++ 9 files changed, 70 insertions(+), 46 deletions(-) create mode 100755 src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_chn_pub.sh create mode 100755 src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_chn_sub.sh create mode 100755 src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_rpc_client.sh create mode 100755 src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_rpc_server.sh create mode 100755 src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_chn_pub.sh create mode 100755 src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_chn_sub.sh create mode 100755 src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_rpc_client.sh create mode 100755 src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_rpc_server.sh diff --git a/src/examples/plugins/ros2_plugin/README.md b/src/examples/plugins/ros2_plugin/README.md index 1ba5050f4..e5bdd83d9 100644 --- a/src/examples/plugins/ros2_plugin/README.md +++ b/src/examples/plugins/ros2_plugin/README.md @@ -31,20 +31,12 @@ - 开启新的终端运行 build 目录下`start_examples_plugins_ros2_plugin_pb_rpc_client.sh`脚本启动客户端（cli 进程）； - 分别在两个终端键入`ctrl-c`停止对应进程； - aimrt client 调用 native ros2 server： - - 在 build 目录下运行以下命令启动原生 ros2 服务端： - ```bash - source install/share/ros2_plugin_proto/local_setup.bash - native_ros2_pb_rpc_server - ``` + - 在 build 目录下运行`start_examples_plugins_ros2_plugin_native_pb_rpc_server.sh`脚本以启动原生 ros2 服务端： - 开启新的终端运行 build 目录下`start_examples_plugins_ros2_plugin_pb_rpc_client.sh`脚本启动客户端（cli 进程）； - 分别在两个终端键入`ctrl-c`停止对应进程； - native ros2 client 调用 aimrt server： - 在终端运行 build 目录下`start_examples_plugins_ros2_plugin_pb_rpc_server.sh`脚本启动服务端（srv 进程）； - - 开启新的终端，在 build 目录下运行以下命令启动原生 ros2 客户端： - ```bash - source install/share/ros2_plugin_proto/local_setup.bash - native_ros2_pb_rpc_client - ``` + - 开启新的终端，在 build 目录下运行`start_examples_plugins_ros2_plugin_native_pb_rpc_client.sh`脚本以启动原生 ros2 客户端： - 分别在两个终端键入`ctrl-c`停止对应进程； @@ -90,22 +82,12 @@ - 开启新的终端运行 build 目录下`start_examples_plugins_ros2_plugin_ros2_rpc_client.sh`脚本启动客户端（cli 进程）； - 分别在两个终端键入`ctrl-c`停止对应进程； - aimrt client 调用 native ros2 server： - - 在 build 目录下运行以下命令启动原生 ros2 服务端： - ```bash - source install/share/example_ros2/local_setup.bash - source install/share/ros2_plugin_proto/local_setup.bash - native_ros2_rpc_server - ``` + - 在 build 目录下运行`start_examples_plugins_ros2_plugin_native_ros2_rpc_server.sh`脚本以启动原生 ros2 服务端： - 开启新的终端运行 build 目录下`start_examples_plugins_ros2_plugin_ros2_rpc_client.sh`脚本启动客户端（cli 进程）； - 分别在两个终端键入`ctrl-c`停止对应进程； - native ros2 client 调用 aimrt server： - 在终端运行 build 目录下`start_examples_plugins_ros2_plugin_ros2_rpc_server.sh`脚本启动服务端（srv 进程）； - - 开启新的终端，在 build 目录下运行以下命令启动原生 ros2 客户端： - ```bash - source install/share/example_ros2/local_setup.bash - source install/share/ros2_plugin_proto/local_setup.bash - native_ros2_rpc_client - ``` + - 开启新的终端，在 build 目录下运行`start_examples_plugins_ros2_plugin_native_ros2_rpc_client.sh`脚本以启动原生 ros2 客户端： - 分别在两个终端键入`ctrl-c`停止对应进程； @@ -175,24 +157,16 @@ 运行方式（linux）： - 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_ROS2_PLUGIN` 选项编译 AimRT； - aimrt publisher 向 aimrt subscriber 发布数据： - - 在终端运行 build 目录下`start_examples_plugins_ros_plugin_pb_chn_sub.sh`脚本启动订阅端（sub 进程）； + - 在终端运行 build 目录下`start_examples_plugins_ros2_plugin_pb_chn_sub.sh`脚本启动订阅端（sub 进程）； - 再开启一个新的终端窗口运行`start_examples_plugins_ros2_plugin_pb_chn_pub.sh`脚本启动发布端（pub 进程）； - 分别在两个终端键入`ctrl-c`停止对应进程； - aimrt publisher 向 native ros2 subscriber 发布数据： - - 在 build 目录下运行以下命令启动原生 ros2 订阅端： - ```bash - source install/share/ros2_plugin_proto/local_setup.bash - native_ros2_pb_chn_subscriber - ``` + - 在 build 目录下运行`start_examples_plugins_ros2_plugin_native_pb_chn_sub.sh`脚本以启动原生 ros2 订阅端： - 再开启一个新的终端窗口运行`start_examples_plugins_ros2_plugin_pb_chn_pub.sh`脚本启动发布端（pub 进程）； - 分别在两个终端键入`ctrl-c`停止对应进程； - native ros2 publisher 向 aimrt subscriber 发布数据： - - 在终端运行 build 目录下`start_examples_plugins_ros_plugin_pb_chn_sub.sh`脚本启动订阅端（sub 进程）； - - 开启新的终端，在 build 目录下运行以下命令启动原生 ros2 发布端： - ```bash - source install/share/ros2_plugin_proto/local_setup.bash - native_ros2_pb_chn_publisher - ``` + - 在终端运行 build 目录下`start_examples_plugins_ros2_plugin_pb_chn_sub.sh`脚本启动订阅端（sub 进程）； + - 开启新的终端，在 build 目录下运行`start_examples_plugins_ros2_plugin_native_pb_chn_pub.sh`脚本以启动原生 ros2 发布端： - 分别在两个终端键入`ctrl-c`停止对应进程； @@ -239,22 +213,12 @@ - 再开启一个新的终端窗口运行`start_examples_plugins_ros2_plugin_ros2_chn_pub.sh`脚本启动发布端（pub 进程）； - 分别在两个终端键入`ctrl-c`停止对应进程； - aimrt publisher 向 native ros2 subscriber 发布数据： - - 在 build 目录下运行以下命令启动原生 ros2 订阅端： - ```bash - source install/share/example_ros2/local_setup.bash - source install/share/ros2_plugin_proto/local_setup.bash - native_ros2_chn_subscriber - ``` + - 在 build 目录下运行`start_examples_plugins_ros2_plugin_native_ros2_chn_sub.sh`脚本以启动原生 ros2 订阅端： - 再开启一个新的终端窗口运行`start_examples_plugins_ros2_plugin_ros2_chn_pub.sh`脚本启动发布端（pub 进程）； - 分别在两个终端键入`ctrl-c`停止对应进程； - native ros2 publisher 向 aimrt subscriber 发布数据： - 在终端运行 build 目录下`start_examples_plugins_ros2_plugin_ros2_chn_sub.sh`脚本启动订阅端（sub 进程）； - - 开启新的终端，在 build 目录下运行以下命令启动原生 ros2 发布端： - ```bash - source install/share/example_ros2/local_setup.bash - source install/share/ros2_plugin_proto/local_setup.bash - native_ros2_chn_publisher - ``` + - 开启新的终端，在 build 目录下运行`start_examples_plugins_ros2_plugin_native_ros2_chn_pub.sh`脚本以启动原生 ros2 发布端： - 分别在两个终端键入`ctrl-c`停止对应进程； diff --git a/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_chn_pub.sh b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_chn_pub.sh new file mode 100755 index 000000000..f80ad9a4b --- /dev/null +++ b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_chn_pub.sh @@ -0,0 +1,7 @@ +#!/bin/bash + +set -e + +source install/share/ros2_plugin_proto/local_setup.bash + +./native_ros2_pb_chn_publisher \ No newline at end of file diff --git a/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_chn_sub.sh b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_chn_sub.sh new file mode 100755 index 000000000..14af80fbe --- /dev/null +++ b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_chn_sub.sh @@ -0,0 +1,7 @@ +#!/bin/bash + +set -e + +source install/share/ros2_plugin_proto/local_setup.bash + +./native_ros2_pb_chn_subscriber \ No newline at end of file diff --git a/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_rpc_client.sh b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_rpc_client.sh new file mode 100755 index 000000000..0ba847661 --- /dev/null +++ b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_rpc_client.sh @@ -0,0 +1,7 @@ +#!/bin/bash + +set -e + +source install/share/ros2_plugin_proto/local_setup.bash + +./native_ros2_pb_rpc_client \ No newline at end of file diff --git a/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_rpc_server.sh b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_rpc_server.sh new file mode 100755 index 000000000..9802cee75 --- /dev/null +++ b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_pb_rpc_server.sh @@ -0,0 +1,7 @@ +#!/bin/bash + +set -e + +source install/share/ros2_plugin_proto/local_setup.bash + +./native_ros2_pb_rpc_server \ No newline at end of file diff --git a/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_chn_pub.sh b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_chn_pub.sh new file mode 100755 index 000000000..4a3818b99 --- /dev/null +++ b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_chn_pub.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +set -e + +source install/share/example_ros2/local_setup.bash +source install/share/ros2_plugin_proto/local_setup.bash + +./native_ros2_chn_publisher diff --git a/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_chn_sub.sh b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_chn_sub.sh new file mode 100755 index 000000000..7b416ba7e --- /dev/null +++ b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_chn_sub.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +set -e + +source install/share/example_ros2/local_setup.bash +source install/share/ros2_plugin_proto/local_setup.bash + +./native_ros2_chn_subscriber diff --git a/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_rpc_client.sh b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_rpc_client.sh new file mode 100755 index 000000000..20ad94c86 --- /dev/null +++ b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_rpc_client.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +set -e + +source install/share/example_ros2/local_setup.bash +source install/share/ros2_plugin_proto/local_setup.bash + +./native_ros2_rpc_client diff --git a/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_rpc_server.sh b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_rpc_server.sh new file mode 100755 index 000000000..e93091cdc --- /dev/null +++ b/src/examples/plugins/ros2_plugin/install/linux/bin/start_examples_plugins_ros2_plugin_native_ros2_rpc_server.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +set -e + +source install/share/example_ros2/local_setup.bash +source install/share/ros2_plugin_proto/local_setup.bash + +./native_ros2_rpc_server