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rclex_examples

This repository offers the examples of Rclex, that is ROS 2 client library for Elixir.

Example lists

Each example project is located in a subdirectory. Please refer to the respective README for operating instructions.

  • rclex_talker : simple talker on single node
  • rclex_talkers : simple talkers on multiple nodes
  • rclex_listener : simple listener on single node
  • rclex_listeners : simple listeners on multiple nodes
  • rclex_topic : pub/sub communication on the same node to single topics
  • rclex_topics : pub/sub communication on multiple nodes to corresponding topics
  • turtle_teleop_rclex : teleoperation for turtle_sim from the key input
  • turtle_pose_phoenix : web visualizer for the location of turtle_sim

Environment

Currently, we have tested the operation of examples in the following environmet.

  • Ubuntu 20.04.2 LTS (Focal Fossa)
  • ROS 2 Foxy Fitzroy
  • Elixir 1.13.4-otp-25
  • Erlang/OTP 25.0.3
  • Rclex v0.8.3

Please also refer to rclex documentation for more detail.

Quickstart

We also we provide rclex_docker environment to try out the examples right away. Let's get a quick start using the Docker environment!

$ cd your_woking_directry
$ git clone https://github.com/rclex/rclex_examples.git
$ cd rclex_examples/
$ docker compose run --rm rclex_docker /bin/bash
# inside container, change directory example one, this time `rclex_listener`
root@************:/# cd /root/rclex_examples/rclex_listener/
root@************:~/rclex_examples/rclex_listener# mix deps.get
...
# try example function
root@************:~/rclex_examples/rclex_listener# iex -S mix
iex(1)> RclexListener.subscribe_message

12:38:12.341 [debug] JobExecutor start

12:38:12.344 [debug] listener/chatter/sub subscriber process start

12:38:22.352 [debug] subscriber finished: listener/chatter/sub

12:38:22.353 [debug] finish node: listener
{:ok, #Reference<0.2781152389.209059862.173351>}