Commit 1dc30a67 by Florian Roth

cosmetic changes

parent d661852a
# Documentation - ADTF Plugingenerator ROS2
This Document describes the intended usage of the code generator script to provide ADTF-Plugins which provide a bridge between ROS2 and ADTF
This Document describes the intended usage of the code generator script to create adtfplugins (Streaming SOurce / Sink) which provide a bridge between ROS2 and ADTF 3.x
## Prerequisites
### Python
* Version - depends on the ROS2-Version installed
* Version - depends on the installed ROS2-Version
* cogapp >= 2.5.1 (MIT)
* colorama >= 0.3.9 (BSD)
* prettytable >= 0.7.2 (BSD-3-Clause)
......@@ -15,7 +15,7 @@ This Document describes the intended usage of the code generator script to provi
* How to install ROS2 <https://index.ros.org/doc/ros2/Installation/>
* You can use `ament` und `colcon` as build system define it within the `Settings`.
Only those ROS2 distributions are tested with the scritp.
Only those ROS2 distributions are tested with the script.
<table>
<tr>
<th>ROS2 Version </th>
......@@ -34,23 +34,22 @@ Only those ROS2 distributions are tested with the scritp.
<td>colcon</td>
</tr>
</table>
Make sure to use the correct build system for the corresponding ROS2 version, else the Installation of ROS2 can be corrputed.
Make sure to use the correct build system for the corresponding ROS2 version, otherwise the installation of ROS2 can be corrputed.
### ADTF
* Version >= 3.3.1
* Version >= 3.3.1 (recommend latest)
### Compliler
* Depends on the ROS2 Version, in general on Windows MSCV2017 and on Linux the GCC-Version delivered with Ubuntu 18.04.
* Depends on the ROS2 Version, in general on Windows MSVC2017 (toolchain VC141) and on Linux the GCC-Version delivered with Ubuntu 18.04.
## Overview
<img src="./documentation/pics/ADTF_ROS2_codegen.png" alt="overview"/>
## First Steps
### System Service
The provided system service must be built from its sources and can be found in `plugins/adtf_system_service`.
The provided ADTF System Service must be built from its sources and can be found in `plugins/adtf_system_service`.
Copy the folder to `path_to_ros\ros2_ws\src\ros2` and adjust the `CMakeLists.txt` if necessary.
......@@ -65,8 +64,8 @@ or a terminal(Unix) with the provided commands
./install/local_setup.bash
```
This activates the ROS2 environment within the open terminal.
Afterwards the service can be installed with the following commands.
This activates the ROS2 environment within the terminal.
Afterwards the service can be installed using the following commands:
**ament**
```
......@@ -77,21 +76,21 @@ ament build --only-package adtf_ros2_system_service
```
colcon build --packages-select adtf_ros2_system_service
```
It is possible you have to set the ADTF_DIR Environmentvaraible.
After the compilation an install process the plugins can be found within `ADTF_DIR/bin/ros2`.
It is possible you have to set the ADTF_DIR as environment variable.
After the compilation and install process the plugins can be found within `ADTF_DIR/bin/ros2`.
### Environment within ADTF
In Order to use ROS2 within ADTF the environment needs to be extended.
In Order to use ROS2 within ADTF 3.x the environment needs to be extended.
#### Windows
Just use the ADTF-Configuration-Editor and navifate to System-Editor >> Environment-Variables and add these entries.
Just use the ADTF Configuration Editor and navigate to System Editor >> Environment variables and add these entries.
* PYTHONPATH = path_to_ros\install\Lib\site-packages
* Path= path_to_ros\install\Scripts;path_to_ros\install\bin;$(Path)
#### Linux
For Linux the best way to use ROS2 within ADTF is to write a small launcher script which we than add as custom launcher within the ADTF-Configuration-Editor.
For Linux the best way to use ROS2 within ADTF 3.x is to write a small launcher script which we than add as custom ADTF Launcher within the ADTF Configuration Editor.
```bash
#!/bin/bash
......@@ -105,15 +104,15 @@ echo 'Starting: '$3
$2/bin/adtf_launcher --session $3 --console --run
```
We can store this script for exanmple within ADTF_DIR/bin/ros2/ros_launcher.sh and add it afterwards in the ADTF-Configuration-Editor.
We can store this script for exanmple within ADTF_DIR/bin/ros2/ros_launcher.sh and add it afterwards in the ADTF Configuration Editor.
Navigate to Tools >> Options >> Launchers and press the Add-Button.
Fill in the Dialog with the following:
* Name: LauncherWithRos2
* Command: xterm -e path/to/your/starter/bash path/to/ros2/local_setup.bash $(ADTF_DIR) $(ADTF_SESSION_FILENAME)
* Command: xterm -hold -e path/to/your/starter/bash path/to/ros2/local_setup.bash $(ADTF_DIR) $(ADTF_SESSION_FILENAME)
* Working Directory: $(ADTF_DIR)
Afterwards you can launch any given Session from the ADTF-Configuration-Editor in a ROS2 environment
Afterwards you can launch any given Session from the ADTF Configuration Editor in a ROS2 environment
## Functions
The Python script can be launched with any terminal. The starting point will be the main menu.
......@@ -131,11 +130,11 @@ Path to your local ROS2 installation for example `C:\dev\ros2`. Please don't use
**adtf_path:**
This setting describes the absolute path to your ADTF3 installation `C:\adtf\3.3.1`
This setting describes the absolute path to your ADTF 3.x installation `C:\ADTF\3.x.y`
**adtf_plugin_install_path:**
With this setting you can define the path, in which the generated plugins will be installed for example `C:\adtf\3.3.1\bin\ros2`.
With this setting you can define the path, in which the generated plugins will be installed for example `C:\ADTF\3.x.y\addons\adtf3_ros2_bridge\bin`.
**visual_studio_path:**
......
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