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

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

ros2 launch g2_2025_imu_reader_pkg imu_reader.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

installation and setup for mqtt

sudo apt install mosquitto

sudo apt-get install libpaho-mqtt-dev


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

for launching lifecycle mqtt node

first:

ros2 run g2_2025_imu_reader_pkg g2_2025_lifecycle_node --ros-args -p comm_t:='mqtt'

in other terminal:

mosquitto

and in other terminal to inialize the subscriber:

ros2 lifecycle set /lifecycle_manager configure
ros2 lifecycle set /lifecycle_manager activate
ros2 lifecycle set /lifecycle_manager deactivate
ros2 lifecycle set /lifecycle_manager shutdown

And finally publish a message to the sub in other terminal:

mosquitto_pub -h localhost -p 1883 -t "esp32/imu" -m "test"

close connection via:

ros2 lifecycle set /lifecycle_manager deactivate