5.1.4 Run "Hello World"

Prerequisite: TogetheROS.Bot has been successfully installed via DEB package or source code installation.

Start two terminals, both ssh logged into the RDK or X86 platform device.

Foxy

Run in the first terminal

source /opt/tros/setup.bash
ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function

Run in the second terminal

source /opt/tros/setup.bash
ros2 run examples_rclcpp_minimal_publisher publisher_member_function

Humble

Install the package corresponding to the Hello World example:

sudo apt update
sudo apt install ros-humble-examples-rclcpp-minimal-publisher ros-humble-examples-rclcpp-minimal-subscriber

Note

If the sudo apt update command fails or reports an error, please refer to the FAQ section Q10: How to handle apt update command failure or error? for resolution.

Note

If the sudo apt update command fails or reports an error, please refer to the FAQ section Q10: How to handle apt update command failure or error? for resolution.

Run in the first terminal

source /opt/tros/humble/setup.bash
ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function

Run in the second terminal

source /opt/tros/humble/setup.bash
ros2 run examples_rclcpp_minimal_publisher publisher_member_function

Jazzy

Install the package corresponding to the Hello World example:

sudo apt update
sudo apt install ros-jazzy-examples-rclcpp-minimal-publisher ros-jazzy-examples-rclcpp-minimal-subscriber

Note

If the sudo apt update command fails or reports an error, please refer to the FAQ section Q10: How to handle apt update command failure or error? for resolution.

Note

If the sudo apt update command fails or reports an error, please refer to the FAQ section Q10: How to handle apt update command failure or error? for resolution.

Run in the first terminal

source /opt/tros/jazzy/setup.bash
ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function

Run in the second terminal

source /opt/tros/jazzy/setup.bash
ros2 run examples_rclcpp_minimal_publisher publisher_member_function

Humble

Install the package corresponding to the Hello World example:

sudo apt update
sudo apt install ros-humble-examples-rclcpp-minimal-publisher ros-humble-examples-rclcpp-minimal-subscriber

Note

If the sudo apt update command fails or reports an error, please refer to the FAQ section Q6: How to handle apt update command failure or error? for resolution.

Run in the first terminal

source /opt/tros/humble/setup.bash
ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function

Run in the second terminal

source /opt/tros/humble/setup.bash
ros2 run examples_rclcpp_minimal_publisher publisher_member_function

Jazzy

Install the package corresponding to the Hello World example:

sudo apt update
sudo apt install ros-jazzy-examples-rclcpp-minimal-publisher ros-jazzy-examples-rclcpp-minimal-subscriber

Note

If the sudo apt update command fails or reports an error, please refer to the FAQ section Q6: How to handle apt update command failure or error? for resolution.

Run in the first terminal

source /opt/tros/jazzy/setup.bash
ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function

Run in the second terminal

source /opt/tros/jazzy/setup.bash
ros2 run examples_rclcpp_minimal_publisher publisher_member_function

The running effect is shown below

You can see the left terminal acts as pub, continuously sending "'Hello, world! N", and the right terminal acts as sub, continuously receiving "'Hello, world! N"

OK, tros.b has been successfully installed and verified!