[rcleus] ROS2 client for eus

[mqcmd196]

Just my hobby

TODO

1st phase

• Init rcl node
• Publish simple topic like integer
• Subscribe simple topic like integer
• rosidl_generator_eus
• Publish any topic
• Subscribe any topic

2nd phase

• Service call
• Service server

3rd phase

• Support tf
• Support action

[mqcmd196]

You can try my work on Ubuntu 22.04 PC with ros humble.

build

sudo apt install euslisp jskeus
mkdir -p ~/colcon_ws/src && cd ~/colcon_ws/src
git clone https://github.com/mqcmd196/jsk_roseus --branch ros2
mkdir -p jsk_roseus/rcleus/build && cd jsk_roseus/rcleus/build
source /opt/ros/humble/setup.bash
cmake .. && make -j(nproc)

exec

# at build directory
rlwrap irteusgl

then

load-library "librcleus.so" '("rcleus")
rcleus-raw "test" 1 '("param")

then you can check the node is initialized by ros2 node list .