Task description

Create the ROS 2 system that represents the robot state monitoring system. It should be divided into multiple nodes and each node should have just one responsibility.

The systems should contain the following nodes:

• the state monitor,
• the error handler,
• and the sensor (lidar, camera) nodes.

The structure of the system is shown in the below diagram.

Used ROS2 Distribution: ROS 2 Humble Documentation

Files

ros2_ws.tar

• Project Structure

Usage

In ros2_ws directory:

❯ colcon build --symlink-install
	Starting >>> my_action_package
	Starting >>> my_service_package
	Finished <<< my_service_package [5.04s]                                                                
	Finished <<< my_action_package [5.95s]                  
	Starting >>> my_monitoring_package
	Finished <<< my_monitoring_package [1.34s]          
	
	Summary: 3 packages finished [8.25s]

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