SampleModule

About the module

This is a sample module to be used as template for creating new modules.

Features

The sample module is a ros2 node that features some basic publishers and subscribers to various topics. It also features a TCPServer running in a separate thread.

Usage

In order to compile and launch this module (or any other module created from the template) you need to go to the outermost CMakeLists.txt file in the root of the repository and add the following line:

set(WITH_MODULE_X ON CACHE BOOL "Enable ModuleX module")

Followed by:

if(WITH_MODULE_X)
        list(APPEND ENABLED_MODULES ModuleX)
endif()

Note: When switching ON/OFF certain modules, it might be necessary to remove the CMakeCache.txt file in ~/atos_ws/install/atos/.

It is also necessary to add the module to a launch file, located in the launch directory. This is done by adding the following line to the list of nodes in the appropriate launch file:

    Node(
        package='atos',
        namespace='atos',
        executable='module_x',
        name='module_x',
    )

Then you can compile and launch the module by running the following commands:

MAKEFLAGS=-j5 colcon build --packages-up-to atos

(tune -j5 to an appropriate number depending on your available RAM memory and CPU cores)

ros2 launch atos launch_basic.py