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

For launching lifecycle mqtt node

First:

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

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