23.2. Microros Publisher Performance Test
23.2.1. Overview
The publisher example demonstrates the message publishing function of microros nodes through XRCE-Client。
23.2.2. Board Setting
One ubuntu host with ROS2 kilted version installed
Connect the host to the development board using a USB to serial port. The serial port number used by the development board can be found in board.h.
23.2.3. Environment Setup
ros2 install:
Installation steps on the official website [https://docs.ros.org/en/kilted/Installation/Alternatives/Ubuntu-Development-Setup.htmls].
Installing through APT(If necessary，change the source of ubuntu)
sudo apt update
sudo apt install ros-kilted-desktop
After installing ROS2, it is necessary to install the agent on the host side, which is installed through Docker
docker run -it --rm --net=host -v /dev/shm:/dev/shm -v /dev:/dev --privileged microros/micro-ros-agent:kilted serial --dev ${serial}
If you encounter a situation where the serial port cannot be opened, please change the permissions for the serial port
sudo chmod -R 777 ${serial}
After running the agent, reset the board.
23.2.4. Running the example
Open a new terminal
source /opt/ros/kilted/setup.bash
type ros2 node list You can see the “publisher” node.
type ros2 topic list You can see /int32_Publisher topic name.
type ros2 node info /publisher You can query node functions and message types
type ros2 topic echo /int32_publisher You can see the content of the published message. In this example, a 32-bit number is sent every 1 second, increasing each time.
data: 0
---
data: 1
---
data: 2
---
data: 3
---
data: 4
---
data: 5
---
data: 6
---