RV2 Package Example

This is an example package for RV2 Package Launcher Management.

File Tree

rv2_package_example
├── include/rv2_package_example
│   └── ...
├── launch
│   └── launch.py
├── params
│   ├── params.yaml
│   └── system.yaml (optional)
├── scripts
│   ├── custom.sh (optional)
│   ├── script_after_build.sh (optional)
│   ├── script_before_build.sh (optional)
│   └── source_env.sh (optional)
├── src
│   └── ...
├── CMakeLists.txt
├── package.xml
├── requirements_apt.txt (optional)
├── requirements_pip.txt (optional)
└── ...

launch Directory

This directory contains launch files for the package. The launch file should contains the params_file or config_file argument to load the parameters.

params Directory

This directory contains the parameters for the package. The parameters are stored in YAML format and can be loaded using the params_file or config_file argument in the launch file.

The files under this directory will be copied to the package launcher directory.

• params.yaml: The parameters file for the package.

  /**:
      ros__parameters:
          param1: "val1"

  • /**: The namespace for the parameters.
  • ros__parameters: The ROS parameters format.
  • param1: The parameter name and value.

  NOTE: The file can be directly loaded using ros2 run command.

• system.yaml: The system parameters to create the service file.

  launch:
      params: "params.yaml"
      launch: "launch.py"
      use_root: false
  
  network:
      interface: "eno1"
      internet_required: false
  
  custom:
      arg1: "val1"

  • launch: The required parameters to create runfile.sh for systemd service.

    • params: The name of the parameters file under params directory.
    • launch: The name of the launch file under launch directory.
    • use_root: The flag to run the service as root. If true, the service will be run as root.

  • network: The network parameters to create runfile.sh and service file.

    • interface: The network interface to use. The parameter will be added to the service file.
    • internet_required: The flag to check the internet connection. If true, the internet connection check will be added to the runfile.sh.

  • custom: The custom parameters for custom.sh script.

scripts Directory

This directory contains scripts that can be used to create service, runfile and build the package.

• custom.sh: Custom script that can be run under create-service command before runfile.sh created, before service file created.

  The custom.sh will be run with sudo permission, and passes the system.yaml file path and package path as arguments.

  NOTE: The system.yaml file path indicates the file under package launcher directory.

  NOTE: The package path is the path of the package under the ROS2 workspace.

• script_after_build.sh: Script that can be run after the build command.

  The script_after_build.sh will be run with sudo permission, and passes the package path as an argument.

• script_before_build.sh: Script that can be run before the build command.

  The script_before_build.sh will be run with sudo permission, and passes the package path as an argument.

• source_env.sh: Script that will be added to the runfile.sh to source the environment.

  NOTE: The script will be added before the ros2 launch command.

Requirements Files

The requirements files are used to install the dependencies for the package.

• requirements_apt.txt: The APT packages to install using apt install command.

• requirements_pip.txt: The Python packages to install using python3 -m pip install command.