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Set Micro XRCE-DDS RMW on tutorial #311

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Merged
pablogs9 merged 1 commit into from
May 12, 2021
Merged

Set Micro XRCE-DDS RMW on tutorial #311

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9 changes: 6 additions & 3 deletions _docs/tutorials/core/first_application_linux/index.md
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Expand Up @@ -74,12 +74,15 @@ To give micro-ROS access to the ROS 2 dataspace, run the agent:
ros2 run micro_ros_agent micro_ros_agent udp4 --port 8888
```

And then, in another command line, run the micro-ROS node (remember sourcing the ROS 2 and micro-ROS installations):
And then, in another command line, run the micro-ROS node (remember sourcing the ROS 2 and micro-ROS installations, and setting the RMW Micro XRCE-DDS implementation):

```bash
source /opt/ros/foxy/setup.bash
source /opt/ros/$ROS_DISTRO/setup.bash
source install/local_setup.bash

# Use RMW Micro XRCE-DDS implementation
export RMW_IMPLEMENTATION=rmw_microxrcedds

# Run a micro-ROS node
ros2 run micro_ros_demos_rclc ping_pong
```
Expand All @@ -96,7 +99,7 @@ each:
```bash
cd microros_ws

source /opt/ros/foxy/setup.bash
source /opt/ros/$ROS_DISTRO/setup.bash
source install/local_setup.bash

ros2 run micro_ros_demos_rclc ping_pong
Expand Down
2 changes: 1 addition & 1 deletion _docs/tutorials/core/zephyr_emulator/index.md
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Expand Up @@ -77,7 +77,7 @@ Finally, in order to run the micro-ROS node inside of the Zephyr RTOS emulator,
open a new command shell and execute the flash step by means of the flashing command:

```bash
source /opt/ros/foxy/setup.bash
source /opt/ros/$ROS_DISTRO/setup.bash
source install/local_setup.bash

# Flash/run step
Expand Down
2 changes: 1 addition & 1 deletion _includes/first_application_common/build_system.md
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Expand Up @@ -15,7 +15,7 @@ Once you have a ROS 2 installation in the computer, follow these steps to instal

```bash
# Source the ROS 2 installation
source /opt/ros/foxy/setup.bash
source /opt/ros/$ROS_DISTRO/setup.bash

# Create a workspace and download the micro-ROS tools
mkdir microros_ws
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6 changes: 3 additions & 3 deletions _includes/first_application_common/test_app_host.md
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Expand Up @@ -6,7 +6,7 @@ Open a new command line. We are going to listen to the `ping` topic
with ROS 2 to check whether the micro-ROS Ping Pong node is correctly publishing the expected pings:

```bash
source /opt/ros/foxy/setup.bash
source /opt/ros/$ROS_DISTRO/setup.bash

# Subscribe to micro-ROS ping topic
ros2 topic echo /microROS/ping
Expand Down Expand Up @@ -35,7 +35,7 @@ So, first of all, let's subscribe with ROS 2 to the `pong` topic from a new shel
(notice that initially we don't expect to receive any pong, since none has been sent yet):

```bash
source /opt/ros/foxy/setup.bash
source /opt/ros/$ROS_DISTRO/setup.bash

# Subscribe to micro-ROS pong topic
ros2 topic echo /microROS/pong
Expand All @@ -44,7 +44,7 @@ ros2 topic echo /microROS/pong
And now, let's publish a `fake_ping` with ROS 2 from yet another command line:

```bash
source /opt/ros/foxy/setup.bash
source /opt/ros/$ROS_DISTRO/setup.bash

# Send a fake ping
ros2 topic pub --once /microROS/ping std_msgs/msg/Header '{frame_id: "fake_ping"}'
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6 changes: 3 additions & 3 deletions _includes/first_application_common/test_app_rtos.md
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ Open a new command line. We are going to listen to the `ping` topic
with ROS 2 to check whether the micro-ROS Ping Pong node is correctly publishing the expected pings:

```bash
source /opt/ros/foxy/setup.bash
source /opt/ros/$ROS_DISTRO/setup.bash

# Subscribe to micro-ROS ping topic
ros2 topic echo /microROS/ping
Expand Down Expand Up @@ -36,7 +36,7 @@ So, first of all, let's subscribe with ROS 2 to the `pong` topic from a new shel
(notice that initially we don't expect to receive any pong, since none has been sent yet):

```bash
source /opt/ros/foxy/setup.bash
source /opt/ros/$ROS_DISTRO/setup.bash

# Subscribe to micro-ROS pong topic
ros2 topic echo /microROS/pong
Expand All @@ -45,7 +45,7 @@ ros2 topic echo /microROS/pong
And now, let's publish a `fake_ping` with ROS 2 from yet another command line:

```bash
source /opt/ros/foxy/setup.bash
source /opt/ros/$ROS_DISTRO/setup.bash

# Send a fake ping
ros2 topic pub --once /microROS/ping std_msgs/msg/Header '{frame_id: "fake_ping"}'
Expand Down