## Installation

### Prerequisites

- ROS2 Jazzy or newer installed ([ROS2 Installation Guide](https://docs.ros.org/en/jazzy/Installation.html))
- CMake (version 3.8+)
- Python 3.8+
- libtomlplusplus-dev
- libpqxx-dev
- Colcon build tool
- Docker compose

### Paho MQTT library

For this project the Paho MQTT library is needed, which can be built with the following commands:

```bash
git clone https://github.com/eclipse/paho.mqtt.cpp
cd paho.mqtt.cpp
git co v1.5.4

git submodule init
git submodule update

cmake -Bbuild -H. -DPAHO_WITH_MQTT_C=ON -DPAHO_BUILD_EXAMPLES=ON
sudo cmake --build build/ --target install
```

### Clone the Repository

```bash
git clone https://git.wessel.gg/inholland/ros2-assignments.git
cd ros2-assignments
```

### Build the Workspace

```bash
colcon build
```
Any parameters can be changed before building by editing the `imu_reader.launch.xml` in the launch folder

### Source the Workspace

```bash
source install/setup.bash
```

### Start the database
```bash
sudo docker-compose up
```
You can configure specific database settings in the `docker-compose.yaml` in the root folder or the `config.toml` file in the `src/` folder

### Start the IMU Reader program
```bash
# For Serial:
ros2 launch g2_2025_imu_reader_pkg serial.launch.xml

# For MQTT:
ros2 launch g2_2025_imu_reader_pkg mqtt.launch.xml
```
To change parameters when using the launch file it will need to be edited in the `src/g2_2025_imu_reader_pkg/launch` folder. All parameters are already added to this document and thus only the values will need to be changed

### Use the Lifecycle Node

To setup the lifecycle node the following commands can be used. They must be used in this order.
```bash
ros2 lifecycle set /LifecycleManager configure
ros2 lifecycle set /LifecycleManager cleanup
ros2 lifecycle set /LifecycleManager activate
ros2 lifecycle set /LifecycleManager deactivate
ros2 lifecycle set /LifecycleManager shutdown
```
![img](https://design.ros2.org/img/node_lifecycle/life_cycle_sm.png)