Toy state machine in ROS

1. Build image

   docker build --file docker/Dockerfile --tag ros_sm .
   

2. Run container (in WSL). Default container name is ros_sm

   ./docker/docker.sh
   

   • Make sure to check that docker/docker.sh points to correct docker image.

3. Remember to build the ROS 2 packages before use. In ros2_ws/,

   colcon build
   

   • Add --symlink-install to avoid having to rebuild each time source files are edited.
   • Add --packages-select <package name> to build specific packages only.

4. Remember to source the ROS 2 workspace before use. In ros2_ws/,

   . install/local_setup.bash
   

1. In one terminal, run the server.

   ros2 run action_servers simple_action_server
   

2. In another terminal, send request to action server.

   ros2 action send_goal simple_action custom_action_interfaces/action/Simpleaction "{simple_request: 3}"
   

   • Add --feedback to display feedback messages.

To send instructions to the ROS state machine via CLI.

1. In one terminal, run the state machine.

   ros2 run ros_sm ros_sm
   

2. In another terminal, run the command line publisher.

   ros2 run cmdline_publisher cmdline_publisher