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

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