ROS2_tf2_Broadcaster

Using Rviz Marker Messages for Visualizing tf2_ros/transform_broadcaster

System Info: These packages were tested on Ubuntu 22.04 with ROS Humble.

Runtime Instructions

Open Terminal

mkdir ros2_ws
cd ros2_ws && mkdir src
cd src

After cloning the repo and building it, just type ros2 launch rviz_marker display_marker.launch.py into the terminal to get started. This will launch Rviz and show a 10x10 grid
Then type ros2 run agent service_test on another terminal to display the agent marker on the grid

Ready to update goal pose for agent

To Broadcast Transforms type ros2 service call /update_goal my_robot_interfaces/srv/UpdateGoal "goal_pose: (hit tab)

  position:
    x: 0.0
    y: 0.0
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0"

Send a Geometry Pose msg to call the service

tf2_ros.mp4

using the Dockerised version of the repository :

Pre-installation:

1. Install Xhost for GUI:

   xhost +local:docker

Containerizing:

1. Build the Dockerfile:

   docker build -t my_ros_container .

2. Run the docker container :

   docker run -it --rm --net=host --privileged \
       --env="DISPLAY" \
       --env="QT_X11_NO_MITSHM=1" \
       --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
       -v "~/Path_of_your_choice/ros2_ws/src:/ros2_ws/src" \
       -p 2222:22 \
       ros2-humble-gazebo