Implement two ROS2 nodes that communicate with each other by topics. The first node is the generator that generates a sinusoidal signal and publishes it to the specified topic (for example /signal).
The second node should subscribe to the specified topic and receive the message with the signal value. The node should also modify the signal, for example, scale it by a specific value and publish it to another topic, for example /modified_signal.
During the evaluation, run simultaneously the ROS2 tools (for example rqt_plot) to visualize the signal from the specified topic.
Used ROS2 Distribution: ROS 2 Humble Documentation
In ros2_ws directory:
❯ colcon build --symlink-install
Starting >>> my_message_package
Finished <<< my_message_package [0.76s]
Starting >>> my_signal_package
Finished <<< my_signal_package [1.19s]
Summary: 2 packages finished [2.75s]
Depending on how you installed ROS2 (from source or binaries), and which platform you’re on, your exact source command will vary:
❯ source install/setup.bash
Execute ROS2 Launch:
❯ ros2 launch my_signal_package my_signal_package_launch.py
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [generator-1]: process started with pid [10127]
[INFO] [scaler-2]: process started with pid [10129]
[INFO] [rqt_plot-3]: process started with pid [10131]
generator_params.yaml: