Development of ROS Services, Logging, and Launch files

As part of learning the newly introduced world of ROS 2, the tutorials given in the ros2_humble forum here, have been thoroughly practised. In this branch the development of ROS Services, Logging, and Launch files have been demonstrated.

Overview

The exercise includes the following

1. Learning about simple Service and Client nodes fro here.
2. Integrating service with existing Publisher node.
3. Implementation of ROS 2 Logging levels which can be referred here and here.
4. Creating a launch file that launches both nodes and accepts at least one command-line argument, reference1 and reference2.
5. Adding doxygen-compatible comments for cpp files and methods within them.
6. Running 'cpplint' and 'cppcheck' to check for coding style and detect bugs.

Dependencies

Name	Version	License
Ubuntu	20.04(LTS)	FSF Licenses
ROS 2	Humble Hawksbill	Apache License 2.0
C++	14	Creative Commons Attribution-ShareAlike 3.0 Unported License

Tools

• ament_cmake
• rclcpp
• std_msgs

Commands to build this package

git clone https://github.com/roboticistjoseph/beginner_tutorials/
cd beginner_tutorials
colcon build

Commands to run the nodes

Publisher-Server Terminal:

cd beginner_tutorials && . install/setup.bash
ros2 run beginner_tutorials publisher_node 

Client Terminal:

cd beginner_tutorials && . install/setup.bash
ros2 service call /add_two_ints_v2 example_interfaces/srv/AddTwoInts "{a: 1, b: 2}"

Output

Publisher-Server Node terminal

joseph@jkatak:~/beginner_tutorials$ ros2 run beginner_tutorials publisher_node 
[INFO] [1668654272.050861640] [publisher]: Publishing: 'Developer- Joseph:  0'
[INFO] [1668654272.550778845] [publisher]: Publishing: 'Developer- Joseph:  1'
[INFO] [1668654273.050546312] [publisher]: Publishing: 'Developer- Joseph:  2'
[INFO] [1668654273.550717134] [publisher]: Publishing: 'Developer- Joseph:  3'
[INFO] [1668654274.050721202] [publisher]: Publishing: 'Developer- Joseph:  4'
[INFO] [1668654274.550975447] [publisher]: Publishing: 'Developer- Joseph:  5'
[INFO] [1668654275.050572626] [publisher]: Publishing: 'Developer- Joseph:  6'
[INFO] [1668654275.550823319] [publisher]: Publishing: 'Developer- Joseph:  7'
[INFO] [1668654276.050522875] [publisher]: Publishing: 'Developer- Joseph:  8'
[INFO] [1668654276.550567372] [publisher]: Publishing: 'Developer- Joseph:  9'
[INFO] [1668654277.050506899] [publisher]: Publishing: 'Developer- Joseph:  10'
[INFO] [1668654277.061940966] [publisher]: Incoming request
a: 1 b: 2
[INFO] [1668654277.062012241] [publisher]: sending back response: [3]
[INFO] [1668654277.550480005] [publisher]: Publishing: 'Developer- Joseph:  11'
[INFO] [1668654278.050686072] [publisher]: Publishing: 'Developer- Joseph:  12'

Client Node terminal

joseph@jkatak:~/beginner_tutorials$ ros2 service call /add_two_ints_v2 example_interfaces/srv/AddTwoInts "{a: 1, b: 2}"
requester: making request: example_interfaces.srv.AddTwoInts_Request(a=1, b=2)

response:
example_interfaces.srv.AddTwoInts_Response(sum=3)

Logging Levels

joseph@jkatak:~/beginner_tutorials$ ros2 run beginner_tutorials publisher_node 
[INFO] [1668725753.965350804] [publisher]: Publishing: 'Developer- Joseph:  0'
[INFO] [1668725753.965833352] [publisher]: Logger level: Info, Publishing:Developer- Joseph:  0
[INFO] [1668725754.465347022] [publisher]: Publishing: 'Developer- Joseph:  1'
[INFO] [1668725754.465566642] [publisher]: Logger level: Info, Publishing:Developer- Joseph:  1
[INFO] [1668725754.965364998] [publisher]: Publishing: 'Developer- Joseph:  2'
[INFO] [1668725754.965579624] [publisher]: Logger level: Info, Publishing:Developer- Joseph:  2
[INFO] [1668725755.465385939] [publisher]: Publishing: 'Developer- Joseph:  3'
[INFO] [1668725755.465604558] [publisher]: Logger level: Info, Publishing:Developer- Joseph:  3
[WARN] [1668725755.465669556] [publisher]: Logger level: Warning, Too many Publising cycles
[INFO] [1668725755.965402930] [publisher]: Publishing: 'Developer- Joseph:  4'
[INFO] [1668725755.965618115] [publisher]: Logger level: Info, Publishing:Developer- Joseph:  4
[WARN] [1668725755.965681029] [publisher]: Logger level: Warning, Too many Publising cycles
[INFO] [1668725756.465410277] [publisher]: Publishing: 'Developer- Joseph:  5'
[INFO] [1668725756.465678144] [publisher]: Logger level: Info, Publishing:Developer- Joseph:  5
[WARN] [1668725756.465744670] [publisher]: Logger level: Warning, Too many Publising cycles
[INFO] [1668725756.965438963] [publisher]: Publishing: 'Developer- Joseph:  6'
[INFO] [1668725756.965654878] [publisher]: Logger level: Info, Publishing:Developer- Joseph:  6
[WARN] [1668725756.965716958] [publisher]: Logger level: Warning, Too many Publising cycles
[INFO] [1668725757.465370031] [publisher]: Publishing: 'Developer- Joseph:  7'
[INFO] [1668725757.465589177] [publisher]: Logger level: Info, Publishing:Developer- Joseph:  7
[WARN] [1668725757.465652714] [publisher]: Logger level: Warning, Too many Publising cycles
[FATAL] [1668725757.465699010] [publisher]: Logger level: Fatal, Fatal error due to overuse
[INFO] [1668725757.965204002] [publisher]: Publishing: 'Developer- Joseph:  8'
[INFO] [1668725757.965326375] [publisher]: Logger level: Info, Publishing:Developer- Joseph:  8
[WARN] [1668725757.965352503] [publisher]: Logger level: Warning, Too many Publising cycles
[FATAL] [1668725757.965369198] [publisher]: Logger level: Fatal, Fatal error due to overuse

Screenshot of rqt_console

rqt_console helps monitor logged messages.

ros2 run rqt_console rqt_console

Commands to run Launch file

cd beginner_tutorials && . install/setup.bash
ros2 launch nodes_launch.yaml

Commands to Moniter Parameter response

ros2 param list
ros2 param set /param_helper_node my_parameter universe

Monitering Parameter response output

joseph@jkatak:~/beginner_tutorials/launch$ ros2 launch node_launcher.yaml
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [minimal_param_node-1]: process started with pid [44475]
[minimal_param_node-1] [INFO] [1668651106.180145554] [minimal_param_node]: Hello world!
[minimal_param_node-1] [INFO] [1668651107.180334288] [minimal_param_node]: Hello world!
[minimal_param_node-1] [INFO] [1668651108.180327606] [minimal_param_node]: Hello universe!

Code Analysis

Running 'cpplint' and 'cppcheck' to check for coding style and detect bugs.

cpplint

Change to the root directory of the package, /beginner_tutorials, and run:

cpplint --filter=-build/c++11,+build/c++17,-build/namespaces,-build/include_order ./src/*.cpp ./include/*.hpp > ./results/cpplint.txt

The results of running cpplint can be found in /results/cpplint.txt.

cppcheck

Change to the root directory of the package, /beginner_tutorials, and run:

cppcheck --enable=all --std=c++17 ./src/*.cpp ./include/*.hpp --suppress=missingIncludeSystem --suppress=unmatchedSuppression --suppress=unusedFunction --suppress=missingInclude --suppress=useInitializationList > results/cppcheck.txt

The results of running cppcheck can be found in /results/cppcheck.txt.