ros2-assignments/doc/installation/installation.md

Installation

Prerequisites

• ROS2 Jazzy or newer installed (ROS2 Installation Guide)
• 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:

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

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

Build the Workspace

colcon build

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

Source the Workspace

source install/setup.bash

Start the database

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

# 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.

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