ROS2 examples

ROS2 examples for deployment

ros2 vnc environment

C:\> docker run -p 8080:80 -it --name ros2 tiryoh/ros2-desktop-vnc:humble

connect to localhost:8008 in the browser (Edge is better)

build

1. update packages

$ sudo apt update && sudo apt upgrade

2. git clone

$ git clone https://github.com/bosornd/ros2_examples.git
$ cd ros2_examples

3. install dependencies

$ rosdep install --from-paths src --ignore-src --rosdistro humble -y

4. build

$ colcon build
$ source install/setup.bash

launch

• case 1, each node is deployed on each process (default).

$ ros2 launch ros2_examples single_node_process.py

• case 2, multiple nodes are deployed on a single process using a single-threaded executor.

$ ros2 launch ros2_examples multi_node_single_threaded_process.py

• case 3, multiple nodes are deployed on a single process using a multi-threaded executor.

$ ros2 launch ros2_examples multi_node_multi_threaded_process.py