##  [ Contributors  6  ](/iRobotEducation/irobot-edu-python-
sdk/graphs/contributors)


##  Connect a Raspberry Pi 4


Cancel  Submit feedback


  Virtual Machines

As noted in the ROS 2 [ Galactic ](../ubuntu2004) and [ Humble
](../ubuntu2204) installation instructions, it is possible to install Ubuntu
20.04 or 22.04 in a virtualized container if your machine is natively running
another operating system. There are three possible ways to communicate over a
network between a ` virtual machine (VM) ` and the Create® 3 robot using ROS
2.

Important

Any time you change your network configuration settings on your virtual
machine, you should restart the virtual machine before attempting to confirm
connectivity.


  * Python® 3 is governed by and a trademark of the Python Software Foundation.
  * The Bluetooth® word mark and logos are registered trademarks owned by Bluetooth SIG, Inc. and any use of such marks by iRobot is under license.
  * Windows® is a trademark of Microsoft Corporation, registered in the U.S. and other countries and regions.
  * macOS® is a trademark of Apple Inc., registered in the U.S. and other countries and regions.
  * Linux® is a trademark of Linus Torvalds, registered in the U.S. and other countries and regions.
  * USB-C™ is a trademark of USB Implementers Forum.
  * All other trademarks mentioned are the property of their respective owners.


[ Create 3 Freezes and Reboots Regularly with Firmware G.5.3  #521
](/iRobotEducation/create3_docs/issues/521)


12. If both your computer and robot are on the same network, you should now be able to test things out with a ` ros2 topic list ` . If this does not work, please refer to [ ROS 2 Network Configuration ](../xml-config/) for further configuration ideas. A full Create® 3 API description can be found [ here ](../../api/ros2) .


[ pyproject.toml ](/iRobotEducation/irobot-edu-python-
sdk/blob/main/pyproject.toml "pyproject.toml")


4. Select **Connect** and set the WiFi so the Robot can connect to the internet. If you don’t do this, you will need to install an NTP server on your Pi to ensure the robot has the correct time. Messages are time based, so the robot and the Pi needs to have the same time. The [ network time documentation ](https://iroboteducation.github.io/create3_docs/setup/compute-ntp/) has the instructions for setting this up if needed. Note that running ` sudo chronyc clients ` to see the connected clients will return nothing if the Pi is not plugged in to the robot, and may take a while to show a connection the first time.


So according to this publication the robots CPU and RAM is not supposed to Max
out. But: **"Tests were run on Ubuntu 20.04. The Linux proc pseudo-filesystem
was used to accurately record operating-system level metrics."**


[
![@royito55](https://avatars.githubusercontent.com/u/26725409?s=80&u=be7d14f82bd5b1d7d9a527e8fa13154046c4ee5e&v=4)
](/royito55)


Copy link


[ ![@Jayden-F](https://avatars.githubusercontent.com/u/78594884?s=80&v=4)
](/Jayden-F)


  2. Once logged in, check to ensure that you are using a UTF-8 locale by typing

        echo $LANG


iRobot, the makers of robotic vacuum cleaners also make educational robots
designed for learning how to do robotics programming. I recently managed to
get my hands on one of their [ new Create3 robots
](https://edu.irobot.com/what-we-offer/create3) as part of the Microsoft
Global Hackathon, one of the cool perks of working for Microsoft.


1. If you haven't already, download and install [ Ubuntu® 22.04 64-bit ](https://releases.ubuntu.com/22.04/) onto your machine. You may choose either the desktop (for a GUI) or server (for console-only) install.


2. Connect your computer to the WiFi from the Create3. It will be called ` Create-xxxx ` where ` xxxx ` is a mix of numbers and letters. The robot will play its happy noise when you connect.


##  ALPHA features


We also ran into a lot of issues when using two robots (TurtleBot 4) on the
same network. I tried to summarize the problem and potential workarounds in
the following document: [
https://docs.google.com/document/d/18Uiy3k-HlsiR4ICyweVondgNwyK8dJw2Eda17PrzJdY/edit?usp=sharing
](https://docs.google.com/document/d/18Uiy3k-HlsiR4ICyweVondgNwyK8dJw2Eda17PrzJdY/edit?usp=sharing)
Comments are appreciated.

---

❤  1  royito55 reacted with heart emoji


Please do file [ issues ](https://github.com/iRobotEducation/irobot-edu-
python-sdk/issues) as they are found, so that the team (or the community) can
address them.


###  Connect and test the Pi


#####  Tags


##  Disclaimer: this is a BETA release.


* [ Pricing ](/pricing)


[
![@agrueneberg](https://avatars.githubusercontent.com/u/527708?s=80&u=8acb8e8543869cb0028c9d25792dc52ed9dbb868&v=4)
](/agrueneberg)


edited


For topics it will be easier by just running the great ` topic_tools relay `
package in the pi's.

---

All reactions


We read every piece of feedback, and take your input very seriously.


Query


##  Additional information


#  Search code, repositories, users, issues, pull requests...


* 👍  2 reactions


Connect to the Pi over SSH using the username ` ubuntu ` and password ` ubuntu
` . You will need to change the password the first time you log in.


**[ royito55 ](/royito55) ** commented  Jul 14, 2023  •


[ ![@lukeopteran](https://avatars.githubusercontent.com/u/78730430?s=80&v=4)
](/lukeopteran)


##  [ Releases ](/iRobotEducation/irobot-edu-python-sdk/releases)


##  Use saved searches to filter your results more quickly


You are not crazy at all.

---

👍  3  ipa-rar, royito55, and martinerk0 reacted with thumbs up emoji


Toggle navigation


[ @agrueneberg ](https://github.com/agrueneberg) Thank you for your document,
I am also experimenting with 2 TurtleBot4s (Hoping to move to 12) Yet I am
roadblocked by the exact same issues you have described below.


echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null


    from irobot_edu_sdk.backend.usb import USB

    # Connect to robot from MicroPython-compatible board over USB.
    backend = USB() # MicroPython-compatible board is powered from USB-C port


Readme


2. Lets say you boot the bot and it didn't work with any commands at all and action servers are offline and you can't even see "ros2 param list" and no matter how many time you reboot the bot it changes nothing.


* [ The ReadME Project  GitHub community articles  ](/readme)


To see all available qualifiers, see our [ documentation
](https://docs.github.com/search-github/github-code-search/understanding-
github-code-search-syntax) .


> The iRobot Create® 3 application is normally controlled by an external
> navigation software, such as Nav2 described in Sec. VI-A, and this results
> in the use of approximately 60% CPU and 32 MB RAM. More performance
> intensive operations such as remotely subscribing to all the published
> topics (e.g. for visualization purposes or to record a log), can increase
> the CPU usage to 80%. The robot also supports multiple rmw, and with some of
> them the RAM usage grows up to 40 MB.


sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg


For


* ❤  1 reaction


Open


Pick a username


[ ROS, short for Robot Operating System ](https://www.ros.org) is, as the name
suggests, an ‘operating system" for robots. Despite the name, it’s not so much
an operating system, more a set of software libraries and tools for building
and controlling robots that runs on top of Windows or Linux. It’s fully open
source and free to use.


They are all setup to be and at times they are all on the same connection. But
when these issues were prominent only a few were on. All bots are on a
different domain id as well. the PI's are on the same network. I can connect
to the robots web page configs just fine for each bot, That's how I'm able to
view the logs.


Copy link


    * [ CI/CD & Automation ](/solutions/ci-cd/)
    * [ DevOps ](/solutions/devops/)
    * [ DevSecOps  ](https://resources.github.com/devops/fundamentals/devsecops/)


edited


We have just released [ G.5.2
](https://iroboteducation.github.io/create3_docs/releases/g_5_2/) and [ H.2.2
](https://iroboteducation.github.io/create3_docs/releases/h_2_2/) , which
reduce core robot loading by about 9%. Hopefully this, in combination with
other configuration work that is in progress. will help. Please update your
Create 3 robots to [ H.2.2
](https://iroboteducation.github.io/create3_docs/releases/h_2_2/) , and let us
know if you find a similar improvement.

---

👍  1  scottcandy34 reacted with thumbs up emoji  🎉  1  royito55 reacted with
hooray emoji


These directions should work on a machine natively running Ubuntu  1  22.04,
as well as in a virtualized container within another operating system. Note
that there might be some network setup required if in a virtualized container;
for example, RMWs seem to like running in a bridged network configuration
rather than a NATted one.


Create® 3 Docs


Email Address


In all my testing I have checked the bots log page in the web UI and very
rarely have I seen it maxed out completely. now it does utilize 80 to 90 CPU
percentage almost always. I didn't pay attention to the ram too much
unfortunately. The bots for ROS are highly unpredictable.

---

👍  2  ipa-rar and Jayden-F reacted with thumbs up emoji


I just went through all 16 of my bots and tested each one. I also upgraded to
H.1.2 I copied over my code and replaced the students code also cleaned up all
the build/install/log folders and ran it. everything worked fine without
issues one PI needed to be updated 'sudo apt upgrade' which fixed its
communication issue. The majority of the bots still boot with a RED ring
before finishing boot. before this I had tested my pi on their bots and didn't
have the issues they were having. now as I have said before I had inspected
their code/PI before but couldn't find anything. but one thing I did change
was setup.py file to mine which they could of done something that might of
messed with the bots coms. I also didn't test when they were having the issues
whether or not it was their code I could of removed the build/install/log and
removed it from '.bashrc' source. but didn't think about that as a test until
now. That would of proven if it was their code or the PI, based on all the
other testing I had done.


2. ROS 2 is governed by Open Robotics  ↩


Once you are in, you can verify the Pi is talking to the robot successfully
buy running the following command:


[ ](https://github.com/)


  4. Add the ROS 2  2  apt repository, first by installing curl

        sudo apt install curl


ROS 2 is simply too unreliable to work out of the box for communication
between PCs in the same network. ROS 1 worked much better in this regard, and
I think it's DDS's fault. If it worked as advertised, we wouldn't have to
restart the daemon every three seconds.

---

All reactions


Some Root® robots support a serial port over USB. This feature is currently
not available on Create® 3 robots.


Skip to content


[ @lukeopteran ](https://github.com/lukeopteran) The one thing I can think to
try is to connect to the robot over its usb0 interface once it is fully booted
(wait about 6 or 7 minutes after it is powered on) and attempt a factory reset
with something like ` curl -X POST http://192.168.186.2/api/factory-reset `
(this just triggers the same endpoint as if you had clicked the "factory
reset" link from the webserver). If that doesn't work, please email [
education@irobot.com ](mailto:education@irobot.com) so we can set up a call; I
think that will be more efficient than trading messages here.

---

👍  1  lboorman reacted with thumbs up emoji


[
![@scottcandy34](https://avatars.githubusercontent.com/u/25613834?s=80&u=8525e768952c94f803ce6548794043d49a4ea39e&v=4)
](/scottcandy34)


    ubuntu@ubuntu:~$ ping google.com
    PING google.com (142.251.211.238) 56(84) bytes of data.
    64 bytes from sea30s13-in-f14.1e100.net (142.251.211.238): icmp_seq=1 ttl=117 time=9.30 ms
    64 bytes from sea30s13-in-f14.1e100.net (142.251.211.238): icmp_seq=2 ttl=117 time=7.76 ms
    64 bytes from sea30s13-in-f14.1e100.net (142.251.211.238): icmp_seq=3 ttl=117 time=8.48 ms


To connect a Raspberry Pi, first you need to install Ubuntu, then connect it
over USB-C, then configure the robot. All the instructions are in the [
Create3 compute board documentation
](https://iroboteducation.github.io/create3_docs/hw/rpi_hookup/) , but I’ve
included a basic run through here with some additional observations of things
that caught me out!


Copy link


Well it's like a workaround I though about to avoid the CPU maxing out, and it
wouldn't be necessary for every setup. It's not related to DDS but the topics
the create3 offers.


    <?xml version="1.0" encoding="UTF-8" ?>
    <CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
        <Domain id="any">
    	<General>
                <NetworkInterfaceAddress>auto</NetworkInterfaceAddress>
    	    <AllowMulticast>false</AllowMulticast>
                <MaxMessageSize>65500B</MaxMessageSize>
                <FragmentSize>4000B</FragmentSize>
            </General>
            <Discovery>
                <Peers>
                    <Peer address="[RPI4 IP]"/>
                </Peers>
                <MaxAutoParticipantIndex>100</MaxAutoParticipantIndex>
                <ParticipantIndex>auto</ParticipantIndex>
            </Discovery>
            <Internal>
                <Watermarks>
                    <WhcHigh>500kB</WhcHigh>
                </Watermarks>
            </Internal>
            <Tracing>
                <Verbosity>severe</Verbosity>
                <OutputFile>stdout</OutputFile>
            </Tracing>
        </Domain>
    </CycloneDDS>


###  Serial


thanks will give it a try

---

All reactions


Once you have network connectivity, continue installing all the required
software listed in the [ documentation
](https://iroboteducation.github.io/create3_docs/setup/pi4/) .


[ ![@agrueneberg](https://avatars.githubusercontent.com/u/527708?s=52&v=4)
](/agrueneberg) [
![@shamlian](https://avatars.githubusercontent.com/u/5374318?s=52&v=4)
](/shamlian) [
![@alsora](https://avatars.githubusercontent.com/u/25433200?s=52&v=4)
](/alsora) [
![@scottcandy34](https://avatars.githubusercontent.com/u/25613834?s=52&v=4)
](/scottcandy34) [
![@royito55](https://avatars.githubusercontent.com/u/26725409?s=52&v=4)
](/royito55) [ ![@ipa-
rar](https://avatars.githubusercontent.com/u/49311464?s=52&v=4) ](/ipa-rar) [
![@brianabouchard](https://avatars.githubusercontent.com/u/66318600?s=52&v=4)
](/brianabouchard) [
![@lboorman](https://avatars.githubusercontent.com/u/69315824?s=52&v=4)
](/lboorman) [
![@Jayden-F](https://avatars.githubusercontent.com/u/78594884?s=52&v=4)
](/Jayden-F) [
![@lukeopteran](https://avatars.githubusercontent.com/u/78730430?s=52&v=4)
](/lukeopteran)


    * [ Enterprise ](/enterprise)
    * [ Teams ](/team)
    * [ Startups ](/enterprise/startups)
    * [ Education  ](https://education.github.com)


Hi [ @scottcandy34 ](https://github.com/scottcandy34) , your problem seems to
be related to network issues. Are all the robots connected to the same Wi-Fi?


But say you need to send dock commands to all your robots from an external PC,
then you'd need to discover ` robot_n/dock ` coming from the create3, but with
the setup I described, the PC doesn't see the create3. So then you need to
write some ROS 2 nodes and run them in the pi's to address that, which I
haven't lol.


Sorry, something went wrong.


###  Resources


**[ lboorman ](/lboorman) ** commented  Oct 10, 2023


* Solutions


Collaborator


###  Configure the ROS middleware (RMW)


[ **6** forks ](/iRobotEducation/irobot-edu-python-sdk/forks)


  10. At this point, we recommend setting your default RMW (ROS 2 middleware). The RMW you set here has to match the RMW on your robot, which can be found from its Application Configuration page. More detail on RMW can be found [ here ](../xml-config) . Right now, the Create® 3 robot supports ` rmw_cyclonedds_cpp ` and ` rmw_fastrtps_cpp ` . The default for Humble is ` rmw_fastrtps_cpp ` . Depending on your robot's RMW implementation, type one of the following:

        echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc


[ @Jayden-F ](https://github.com/Jayden-F) Thanks for your feedback! I have
added it to the document. We also had your idea, but had to drop it because
other lab groups might want to use the robots, too. How would you configure
Cyclone DDS to only communicate via usb0?

---

All reactions


Network issues would make some sense but at the same time not because the bots
have no issue being connected to the Wi-Fi. Only network type thing I can
think of is NTP servers.


**[ Jayden-F ](/Jayden-F) ** commented  May 19, 2023  •


  8. We also recommend installing a few other packages:

        sudo apt install -y build-essential python3-colcon-common-extensions python3-rosdep ros-humble-rmw-cyclonedds-cpp


Once the Pi is configured, you will need to configure the RMW on the Create3.
To do this:


[ ![@acochrane](https://avatars.githubusercontent.com/u/6686614?s=40&v=4)
](/acochrane) [ acochrane ](/acochrane) mentioned this issue  Jan 18, 2024


[ Sign in
](/login?return_to=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Firobot-edu-
python-sdk)


Once the image is created, you need to update some configuration on the image
before you insert it into your Pi. The [ documentation
](https://iroboteducation.github.io/create3_docs/setup/pi4/) tells you the
changes to make, but the important gotcha is that the ` network-config ` file
that you update to set your WiFi details will get copied on first boot into a
` yaml ` file, so you **must** get the indentation correct:


[ examples_turtle ](/iRobotEducation/irobot-edu-python-
sdk/tree/main/examples_turtle "examples_turtle")


Resources


This is an installable Python SDK for the iRobot Education robots. It supports
the iRobot® Root® rt0, Root® rt1 and Create® 3 educational robots.


**[ scottcandy34 ](/scottcandy34) ** commented  May 25, 2023


then authorizing the Open Robotics GPG key


  * 👍  1 reaction
  * 🎉  1 reaction


Milestone


**The features detailed below are included as ALPHA versions, which provide
limited functionality and are likely to contain several known or unknown
bugs.** **Support is not provided for ALPHA features at this time.**


Copy link


That is a good solution wish I realized that earlier, but that doesn't fix the
overall problem that something is going on with these robots lol. The labs
will end today so having them downgrade and do that is too much at this point.
Plus once they go back to galactic some still would have issues, although at
this point I don't think they would.


* Product


If you configured everything correctly you should be able to connect to the
internet. You can test this out by pinging a website.


This command lists all the topics that the Pi is able to see from the robot.
These topics are how you can receive sensor data by subscribing to messages,
and send commands to actuators.


To see all available qualifiers, see our [ documentation
](https://docs.github.com/search-github/github-code-search/understanding-
github-code-search-syntax) .


Python SDK for iRobot Edu robots (Root or Create 3)


All reactions


Is there a way to hardware reset it? I have tried holding the various buttons
down for long periods (>20s) but still not getting a response (cannot access
Wifi or hotspot the robot).


> I can't even explain how much I have tried and done to get the bots to work
> correctly. Now some groups don't even have any issues, just like my bot. So
> if someone could please tell me I'm not going crazy lol. I could use the
> hand.


Development


Sorry, something went wrong.


Sign up for GitHub


**[ scottcandy34 ](/scottcandy34) ** commented  May 10, 2023


3. Connect the other end of the cable to the USB-C socket on the Pi. This socket provides both power and connectivity.


Skip to content

[ ![logo](../../assets/irobot_symbol_white.png) ](../.. "Create® 3 Docs")

Create® 3 Docs

Network Recommendations

Initializing search

[ iRobotEducation/create3_docs
](https://github.com/iRobotEducation/create3_docs "Go to repository")

[ ![logo](../../assets/irobot_symbol_white.png) ](../.. "Create® 3 Docs")
Create® 3 Docs

[ iRobotEducation/create3_docs
](https://github.com/iRobotEducation/create3_docs "Go to repository")

  * [ Home ](../..)
  * Hardware  Hardware
    * [ Overview ](../../hw/overview/)
    * [ Mechanical ](../../hw/mechanical/)
    * Electrical  Electrical
      * [ Electrical Overview ](../../hw/electrical/)
      * [ Buttons and Light Ring ](../../hw/face/)
      * [ Adapter Board ](../../hw/adapter/)
    * Printable Accessories  Printable Accessories
      * [ Compute Boards ](../../hw/print_compute/)
      * [ Create® 3 Caster ](../../hw/print_casters/)
      * [ Generic Mounts ](../../hw/print_generic/)
      * [ Sensor Mounts ](../../hw/print_sensor_mounts/)
  * Webserver  Webserver
    * [ Overview ](../../webserver/overview/)
    * [ Home ](../../webserver/home/)
    * [ Connect ](../../webserver/connect/)
    * [ Update ](../../webserver/update/)
    * [ Logs ](../../webserver/logs/)
    * [ Application ](../../webserver/application/)
    * Beta Features  Beta Features


Jump to bottom


I am currently experimenting with individual ROS2 networks for each robot
using cyclone dds; Each Turtlebot4 will have its create3 disconnected from the
network and will only communicate to the Rpi through a ROS2 network. The Rpi
is then configured to use the usb ip network adapter as its preferred ROS2
network adapter isolating all ROS2 traffic between the Create3 and Rpi. We
will use http Post and Get between the Rpi and centralised controller to send
commands.


I have done extensive testing and trouble shooting to diagnose what on earth
is happening and nothing is consistent either. This is maddening lol. I have
been working on theses issues for 2 weeks solid. Not all robots are being
problematic


Clear


Include my email address so I can be contacted


![The USB bluetooth switch set to USB](irobot-usb-switch.png)


[ .vscode ](/iRobotEducation/irobot-edu-python-sdk/tree/main/.vscode
".vscode")


#  Install ROS 2 Humble with Create 3 Messages on an Ubuntu 22.04 Machine


  7. Next add the Create® 3 messages:

        sudo apt install -y ros-humble-irobot-create-msgs


  Disable Multicasting

Both supported RMWs (Fast and Cyclone) require multicasting to be enabled on
your Wi-Fi network by default. However, multicasting is often disabled on
enterprise networks, and the [ creators of Fast DDS recommend disabling
multicasting ](https://fast-
dds.docs.eprosima.com/en/latest/fastdds/use_cases/well_known_deployments/well_known_deployments.html)
when operating on a Wi-Fi network.

A complete overview of the multicast disabling process for both RMWs is
outlined on the [ ROS 2 Middleware Configuration ](../xml-config) page.


[ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax)


**Have a question about this project?** Sign up for a free GitHub account to
open an issue and contact its maintainers and the community.


[ ](https://github.com/)


  * [ Code  ](/iRobotEducation/irobot-edu-python-sdk)
  * [ Issues  ](/iRobotEducation/irobot-edu-python-sdk/issues)
  * [ Pull requests  ](/iRobotEducation/irobot-edu-python-sdk/pulls)
  * [ Actions  ](/iRobotEducation/irobot-edu-python-sdk/actions)
  * [ Projects  ](/iRobotEducation/irobot-edu-python-sdk/projects)
  * [ Security  ](/iRobotEducation/irobot-edu-python-sdk/security)
  * [ Insights  ](/iRobotEducation/irobot-edu-python-sdk/pulse)


[ .gitignore ](/iRobotEducation/irobot-edu-python-sdk/blob/main/.gitignore
".gitignore")


[ scottcandy34 ](/scottcandy34) opened this issue  May 9, 2023  · 20 comments


    * [ Actions  Automate any workflow  ](/features/actions)
    * [ Packages  Host and manage packages  ](/features/packages)
    * [ Security  Find and fix vulnerabilities  ](/features/security)
    * [ Codespaces  Instant dev environments  ](/features/codespaces)
    * [ Copilot  Write better code with AI  ](/features/copilot)
    * [ Code review  Manage code changes  ](/features/code-review)
    * [ Issues  Plan and track work  ](/features/issues)
    * [ Discussions  Collaborate outside of code  ](/features/discussions)


##  About


![An iRobot create with a Raspberry Pi](banner.png)


  * [ irobot ](https://jimbobbennett.dev/tags/irobot)
  * [ ros ](https://jimbobbennett.dev/tags/ros)
  * [ ros2 ](https://jimbobbennett.dev/tags/ros2)
  * [ raspberry-pi ](https://jimbobbennett.dev/tags/raspberry-pi)
  * [ create3 ](https://jimbobbennett.dev/tags/create3)


  * [ Terms and Conditions ](https://about.irobot.com/en-us/legal/terms-and-conditions)
  * [ Privacy Policy ](https://edu.irobot.com/privacy-policy)


**[ lukeopteran ](/lukeopteran) ** commented  Oct 10, 2023


![Putting the Create 3 in WiFi mode](irobot-wifi-mode.gif)


[ Custom properties  ](/iRobotEducation/irobot-edu-python-sdk/custom-
properties)


[ Report repository ](/contact/report-
content?content_url=https%3A%2F%2Fgithub.com%2FiRobotEducation%2Firobot-edu-
python-sdk&report=iRobotEducation+%28user%29)


This SDK is designed to communicate with robots via Bluetooth® Low Energy on
Windows®, macOS®, and Linux® systems. Experimental backends are provided for
communicating over USB serial and USB on MicroPython boards with native USB
ports. These are not currently supported.


Copy link


* [ ros2 ](/questions/scope:all/sort:activity-desc/tags:ros2/page:1/)


Hi The Construct Team,


        response->success = true;
        RCLCPP_INFO(this->get_logger(), "/move_right Service Response: %s",
                    response->message.c_str());
      }
    };

    int main(int argc, char *argv[]) {
      rclcpp::init(argc, argv);
      rclcpp::spin(std::make_shared<ServerNode>());
      rclcpp::shutdown();
      return 0;
    }

    // End of Code


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https://github.com/ros2/launch/issues/588 to Humble.") ` …


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Sorry, something went wrong.


` [ 8e12a84 ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/8e12a84ba48ea02adb27e52b05a78b2361995391)
`


[ ros2 ](/ros2) /  **[ launch ](/ros2/launch) ** Public


    from launch import LaunchDescription
    import launch_ros.actions

    def generate_launch_description():
        return LaunchDescription([
            launch_ros.actions.Node(
                package='demo_nodes_cpp', executable='talker', output={
                'stdout': 'screen',
                'stderr': 'screen'
                }),
            launch_ros.actions.Node(
                package='demo_nodes_cpp', executable='listener', output='screen'),
        ])


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[ stefanscherzinger ](/stefanscherzinger) added a commit to fzi-
forschungszentrum-informatik/cartesian_controllers that referenced this issue
Sep 28, 2022


No one assigned


    We now need to differentiate between the different ROS2 versions.

    The `output` dictionary support needs a backport for
    [ros2/launch#588](https://github.com/ros2/launch/issues/588) to Humble.


Dictionary item in yaml in ros2


    * Remove explicit c++ standard

    REP2000 specifies C++>=17 for humble, and with rclcpp actually using
    e.g. std::variant this breaks

    * Clean up ur_calibration cmake

    * Work around ros2 launch output issue

    Using dictionaries for node output is currently broken, see [ros2/launch#588](https://github.com/ros2/launch/issues/588)


Copy link


` [ Fix integration test's launch config ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/8e12a84ba48ea02adb27e52b05a78b2361995391
"Fix integration test's launch config


add a comment


Ahh, I had forgotten about those options. [ @mjeronimo
](https://github.com/mjeronimo) a follow-up PR to support both substitutions
and dictionaries would be best and most welcome. We also need a regression
test for that use case.

---

All reactions


**[ mjeronimo ](/mjeronimo) ** commented  Aug 20, 2022


The `output` dictionary support needs a backport for


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* Work around ros2 launch output issue


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` [ 6555bfa ](/fzi-forschungszentrum-
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`


Addresses issue #588, allowing dict for 'output'") ` …


Addresses issue [#588](https://github.com/ros2/launch/issues/588), allowing dict for 'output'


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We now need to differentiate between the different ROS2 versions.


\(cherry picked from commit 7b27e2345f6c205f8f88974fd2666c658beb3390\)") ` …


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Asked: ** 2018-12-13 13:09:07 -0500  **


**[ FranekStark ](/FranekStark) ** commented  Oct 3, 2022


It currently fails due to errors while parsing the `output` dictionary.


Can you clarify what you want to change? yaml syntax hasn't changed. The
snippet that you're referencing looks like a nodelet yaml config which has
been replaced by the concept of components.


####  Steps to reproduce issue


https://github.com/ros2/launch/issues/588 to Humble.") ` …


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Aug 20, 2022


#  Search code, repositories, users, issues, pull requests...


The `output` dictionary support needs a backport for


Closed


REP2000 specifies C++>=17 for humble, and with rclcpp actually using


Name


* Product


    We now need to differentiate between the different ROS2 versions.

    The `output` dictionary support needs a backport for
    [ros2/launch#588](https://github.com/ros2/launch/issues/588) to Humble.


Contributor


        auto result_future = client_->async_send_request(
            request, std::bind(&ServiceClient::response_callback, this,
                               std::placeholders::_1));
      }

      void response_callback(
          rclcpp::Client<std_srvs::srv::SetBool>::SharedFuture future) {
        auto status = future.wait_for(1s);
        if (status == std::future_status::ready) {
          // uncomment below line if using Empty() message
          // RCLCPP_INFO(this->get_logger(), "Result: success");
          // comment below line if using Empty() message
          RCLCPP_INFO(this->get_logger(), "Result: success: %i, message: %s",
                      future.get()->success, future.get()->message.c_str());
          service_done_ = true;
        } else {
          RCLCPP_INFO(this->get_logger(), "Service In-Progress...");
        }
      }

    public:
      ServiceClient() : Node("service_client") {
        client_ = this->create_client<std_srvs::srv::SetBool>("move_right");
        timer_ = this->create_wall_timer(
            1s, std::bind(&ServiceClient::timer_callback, this));
        // use below line if you do not want to use
        // "using namespace std::chrono_literals;"
        // timer_ = this->create_wall_timer(
        //     std::chrono::milliseconds(1000),
        //     std::bind(&ServiceClient::timer_callback, this));
      }

      bool is_service_done() const {
        // inspired from action client c++ code
        return this->service_done_;
      }
    };

    int main(int argc, char *argv[]) {
      rclcpp::init(argc, argv);


I am aware of simple parameters defining in yaml in ros2 but seeking some help
to convert below into ros2 yaml . Please let me know if anyone had handled
such type of yaml.


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You can’t perform that action at this time.


Signed-off-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>


New issue


[ stefanscherzinger ](/stefanscherzinger) added a commit to fzi-
forschungszentrum-informatik/cartesian_controllers that referenced this issue
Sep 28, 2022


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as a dictionary \(e.g., in python launch files\).


` [ 66eecf8
](/UniversalRobots/Universal_Robots_ROS2_Driver/commit/66eecf8322c0d08fd066ec78a9b5bc2f685c3b46)
`


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Using dictionaries for node output is currently broken, see ros2/launch#588")
[ #394
](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/pull/394) [
)
](/UniversalRobots/Universal_Robots_ROS2_Driver/commit/66eecf8322c0d08fd066ec78a9b5bc2f685c3b46
"Prepare for humble \(#394\)


edited


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Using dictionaries for node output is currently broken, see ros2/launch#588")
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https://github.com/ros2/launch/issues/588 to Humble.") ` …


We drop the `output` option for now.


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Should be ok after the fix for https://github.com/ros2/launch/issues/588


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[ **asked 2018-12-13 13:09:07 -0500  ** ](/questions/310626/revisions/)


[ Interfacing a native DDS system with ROS2? ](/question/298621/interfacing-a-
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I have attached my code below. It works as expected and cleanly exits after
calling the service.


Signed-off-by: Matthew Elwin <elwin@northwestern.edu>


` [ Merge pull request
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launch/launch/logging/__init__.py: get_output_loggers\(\)


Co-authored-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>") [ #640
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](/ros2/launch/commit/db2cae1d534ad94a5bb0edfe156789a2deaf15bd "Addresses
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The `output` dictionary support needs a backport for


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**[ mjeronimo ](/mjeronimo) ** commented  Jan 24, 2022


[ ![ gravatar image]() ]() [ ]() (  2024-04-15 18:20:28 -0500  )  edit


files was not participating in $\(var\) expansion \(e.g., in


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    #include "geometry_msgs/msg/twist.hpp"
    #include "rclcpp/rclcpp.hpp"
    #include "std_srvs/srv/detail/set_bool__struct.hpp"
    #include "std_srvs/srv/set_bool.hpp"

    #include <memory>

    class ServerNode : public rclcpp::Node {
    public:
      ServerNode() : Node("service_move_right") {

        srv_ = create_service<std_srvs::srv::SetBool>(
            "move_right", std::bind(&ServerNode::moving_callback, this,
                                    std::placeholders::_1, std::placeholders::_2));
        publisher_ =
            this->create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 10);
      }

    private:
      rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr srv_;
      rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;

      void moving_callback(
          const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
          const std::shared_ptr<std_srvs::srv::SetBool::Response> response) {
        RCLCPP_INFO(this->get_logger(), "Requested /move_right Service: %d",
                    request->data);
        auto message = geometry_msgs::msg::Twist();
        if (request->data == true) {
          message.linear.x = 0.25;
          message.angular.z = -0.25;
          response->message = "Robot Moving";
        } else {
          message.linear.x = 0.0;
          message.angular.z = 0.0;
          response->message = "Robot Stopped";
        }
        publisher_->publish(message);


####  Actual behavior


**[ hidmic ](/hidmic) ** commented  Jan 26, 2022  •


` [ Fix integration test's launch config ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/6555bfa4c592cccb4a25e2532f9fc268d8a7bff0
"Fix integration test's launch config


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No milestone


#  Changing 'output' substitution type breaks dictionary usage  #588


Thanks.


[ mergify ](/apps/mergify) bot  pushed a commit that referenced this issue
Sep 1, 2022


This commit checks if the output value is a dict


I’ll try to analyze and test the code today and if everything is correct I’ll
add it to the course.


Save the following to bug.launch.py:


` [ f759f61 ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/f759f6130e2ce8c03dbb39169c8d5bf4e580ca76)
`


[ stefanscherzinger ](/stefanscherzinger) added a commit to fzi-
forschungszentrum-informatik/cartesian_controllers that referenced this issue
Sep 28, 2022


Great initiative! Initially, it was added like this for simplicity, but I do
agree it makes more sense to keep the same structure as the other examples and
use classes as well.


the outputs


Sorry, something went wrong.


[ girishkumar.kannan  ](https://get-help.theconstruct.ai/u/girishkumar.kannan)
October 3, 2022, 8:39am  1


* Addresses issue #588, allowing dict for 'output'


Co-authored-by: Matthew Elwin <elwin@northwestern.edu>


e.g. std::variant this breaks


We now need to differentiate between the different ROS2 versions.


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**[ FranekStark ](/FranekStark) ** commented  Sep 27, 2022  •


[ Course Support  ](/c/course-support/ros2-basics-in-5-days-galactic-c/108) [
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[ Revert the launch repo back to 'master' now that #588 has been fixed  space-
ros/space-ros#59  ](/space-ros/space-ros/pull/59)


Service Client Code **[using Node Inheritance]** :


Co-authored-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>") [ #588
](https://github.com/ros2/launch/issues/588) [ , allowing dict for 'output'
(backport ](/ros2/launch/commit/db2cae1d534ad94a5bb0edfe156789a2deaf15bd
"Addresses issue #588, allowing dict for 'output' \(backport #640\) \(#647\)


Signed-off-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>


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](/mjeronimo) [ mjeronimo ](/mjeronimo) mentioned this issue  Jan 24, 2022


In issue #577 , the 'output' option for logging in launch


Addresses issue #588, allowing dict for 'output'") [ #640
](https://github.com/ros2/launch/pull/640) [ from m-elwin/m-elwin/logging
](/ros2/launch/commit/edf68913560ebb127441aca513519b4f3a2559bd "Merge pull
request #640 from m-elwin/m-elwin/logging


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[ stefanscherzinger ](/stefanscherzinger) added a commit to fzi-
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Sep 28, 2022


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* Remove explicit c++ standard


REP2000 specifies C++>=17 for humble, and with rclcpp actually using


[ Addresses issue #588, allowing dict for 'output'  #640
](/ros2/launch/pull/640)


As I was learning **ROS2 Basics in 5 Days Galactic (C++)** , I found that
everything except Service Client had been written with code that had Node
Inheritance. It kept bothering me as to why Service Client was not
demonstrated with a Node Inheritance code and I tried to come up with my own
code, which I got inspired from learning the Action Client code with C++.


Closed


This issue is unfortunately not fixed in the current Humble release, are there
any plans to do so?

---

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the outputs


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its working for me now. I thought the way params declared here will be
changed, but its same. Following code snippet is working for me. Thanks.


We read every piece of feedback, and take your input very seriously.


` [ Fix integration test's launch config ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/cd43f39519067a116522caef0b2e96ea17f9f927
"Fix integration test's launch config


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We drop the `stderr` option for now.


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    TransferFunction:
      - name: transfer_function
        type: filters/MultiChannelTransferFunctionFilterDouble
        params:
          a: [1.0, -1.760041880343169, 1.182893262037831]
          b: [0.018098933007514, 0.054296799022543, 0.054296799022543, 0.018098933007514]


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    We now need to differentiate between the different ROS2 versions.

    The `output` dictionary support needs a backport for
    [ros2/launch#588](https://github.com/ros2/launch/issues/588) to Humble.


    We drop the `output` option for now.
    It currently fails due to errors while parsing the `output` dictionary.
    Should be ok after the fix for [ros2/launch#588](https://github.com/ros2/launch/issues/588)
    is backported to Humble.


Repositories


I would like to know if this code can be generalized for a “Service Client”
replacing the code without the Node Inheritance. [As of 03/10/2022], Service
Client example in this course is demonstrated without Node Inheritance or
Classes in C++.


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Co-authored-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>") [ #647
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`


####  Expected behavior


The `output` dictionary support needs a backport for


This topic was automatically closed 5 days after the last reply. New replies
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[ mjeronimo ](/mjeronimo) opened this issue  Jan 24, 2022  · 5 comments


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as a dictionary \(e.g., in python launch files\).


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Hello [ @girishkumar.kannan ](/u/girishkumar.kannan) ,


Seen: **939 times**


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Thanks in advance,
Girish


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* Clean up ur_calibration cmake


In issue #577 , the 'output' option for logging in launch


` [ 8748d62 ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/8748d62d1c2cc39276866b72b45436fa8ff30555)
`


      // inspired from action client c++ code
      auto service_client = std::make_shared<ServiceClient>();
      while (!service_client->is_service_done()) {
        rclcpp::spin_some(service_client);
      }

      rclcpp::shutdown();
      return 0;
    }

    // End of Code


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](/users/38719/poonam1120/)


Using dictionaries for node output is currently broken, see [ros2/launch#588](https://github.com/ros2/launch/issues/588)


[ stefanscherzinger ](/stefanscherzinger) added a commit to fzi-
forschungszentrum-informatik/cartesian_controllers that referenced this issue
Sep 28, 2022


[ system  ](https://get-help.theconstruct.ai/u/system) Closed  October 9,
2022, 8:04am  4


Sorry, something went wrong.


Should be ok after the fix for https://github.com/ros2/launch/issues/588


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` [ 2e4b0a8
](/RobertWilbrandt/Universal_Robots_ROS2_Driver/commit/2e4b0a8c5c5415d4502a0ac47760d272db5c7875)
`


Signed-off-by: Matthew Elwin <elwin@northwestern.edu>


    LowPass:
      name: transferfunction_test
      type: MultiChannelTransferFunctionFilter<double>
      params:
        a: [1.0, -0.509525449494429]
        b: [0.245237275252786, 0.245237275252786]


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The 'output' value ultimately is passed to


For


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    * [ Collections ](/collections)


    We now need to differentiate between the different ROS2 versions.

    The `output` dictionary support needs a backport for
    [ros2/launch#588](https://github.com/ros2/launch/issues/588) to Humble.


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` [ cd43f39 ](/fzi-forschungszentrum-
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`


Using dictionaries for node output is currently broken, see ros2/launch#588")
` …


` [ Fix integration test's launch config ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/7f190d837dd664434eda6791d0364d7dd0eb63f0
"Fix integration test's launch config


` [ 8854cab ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/8854cabc7a622d1ad4f994cc38577fce7115b586)
`


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` [ Fix integration test's launch config ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/2ffc63ba8b1386d606e4a5afc729da204f48a307
"Fix integration test's launch config


#  Changing 'output' substitution type breaks dictionary usage  #588


[ Service client node class problem ](https://get-
help.robotigniteacademy.com/t/service-client-node-class-problem/25021/2)


and only does the command expansion if it is not.


Feel free to try it out and let me know if this code is correct and can be
used.


Contributor


Explore


which can accept either a string or a dict to specify


Hi, I took the liberty to create a pull request for this issue. Happy to
address any concerns since I'm not overall aware of the greater context of the
changes that caused this issue in the first place. I can also work on a test
but wasn't sure exactly where to begin with that.

---

All reactions


Labels


` [ Fix integration test's launch config ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/b5c1900b178e98a51b5fdcadbf96519f8facf297
"Fix integration test's launch config


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[ adityapande-1995 ](/adityapande-1995) pushed a commit that referenced this
issue  Sep 8, 2022


` [ Fix integration test's launch config ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/f759f6130e2ce8c03dbb39169c8d5bf4e580ca76
"Fix integration test's launch config


    We now need to differentiate between the different ROS2 versions.

    The `output` dictionary support needs a backport for
    [ros2/launch#588](https://github.com/ros2/launch/issues/588) to Humble.


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[ ![@ijnek](https://avatars.githubusercontent.com/u/18237662?s=40&v=4)
](/ijnek) [ ijnek ](/ijnek) mentioned this issue  Sep 11, 2022


e.g. std::variant this breaks


We now need to differentiate between the different ROS2 versions.


[ Update the 'launch' repository once the upstream bug is fixed  space-
ros/space-ros#2  ](/space-ros/space-ros/issues/2)


The launch operation starts the talker and listener, with outputs directed to
the screen.


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[ ros2 run ImportError ](/question/307873/ros2-run-importerror/)


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files was not participating in $\(var\) expansion \(e.g., in


https://github.com/ros2/launch/issues/588 to Humble.") ` …


[
![@hidmic](https://avatars.githubusercontent.com/u/13500507?s=40&u=fe56d14716c84c67d0b5e6a413481c86a09be593&v=4)
](/hidmic) [ hidmic ](/hidmic) added [ bug ](/ros2/launch/labels/bug)
Something isn't working  [ help wanted ](/ros2/launch/labels/help%20wanted)
Extra attention is needed  labels  Jan 26, 2022


    #include "rclcpp/logger.hpp"
    #include "rclcpp/rclcpp.hpp"
    #include "rclcpp/timer.hpp"
    #include "std_srvs/srv/detail/empty__struct.hpp"
    #include "std_srvs/srv/detail/set_bool__struct.hpp"
    #include "std_srvs/srv/empty.hpp"
    #include "std_srvs/srv/set_bool.hpp"

    #include <chrono>
    #include <cstdlib>
    #include <future>
    #include <memory>

    using namespace std::chrono_literals;

    class ServiceClient : public rclcpp::Node {
    private:
      rclcpp::Client<std_srvs::srv::SetBool>::SharedPtr client_;
      rclcpp::TimerBase::SharedPtr timer_;
      bool service_done_ = false; // inspired from action client c++ code

      void timer_callback() {
        while (!client_->wait_for_service(1s)) {
          if (rclcpp::ok()) {
            RCLCPP_ERROR(
                this->get_logger(),
                "Client interrupted while waiting for service. Terminating...");
            return;
          }
          RCLCPP_INFO(this->get_logger(),
                      "Service Unavailable. Waiting for Service...");
        }

        auto request = std::make_shared<std_srvs::srv::SetBool::Request>();
        // set request variables here, if any
        request->data = true; // comment this line if using Empty() message

        service_done_ = false; // inspired from action client c++ code


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##  Comments


* Remove explicit c++ standard


The site is read-only. Please transition to use Robotics Stack Exchange


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0


` [ Addresses issue
](/ros2/launch/commit/8f34c15b31361caf017b3d5806588e202de479e5 "Addresses
issue #588, allowing dict for 'output'


Skip to content


{{ message }}


##  Related questions


The fix for this issue \(commit 8006dfadc\) appears to


[ Adding node from within OpaqueFunction in ROS2 Python Launch File
](/question/416438/adding-node-from-within-opaquefunction-in-ros2-python-
launch-file/)


` [ db2cae1 ](/ros2/launch/commit/db2cae1d534ad94a5bb0edfe156789a2deaf15bd) `


` [ Fix integration test's launch config ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/8748d62d1c2cc39276866b72b45436fa8ff30555
"Fix integration test's launch config


[ __ ](/questions/) |


Signed-off-by: Matthew Elwin <elwin@northwestern.edu>


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image](//www.gravatar.com/avatar/bf885637e4856f27e8510e2b2a4fbaa3?s=32&d=identicon&r=PG)
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Brilliant .
Your coding is awesome.


4 participants


Include my email address so I can be contacted


    We now need to differentiate between the different ROS2 versions.

    The `output` dictionary support needs a backport for
    [ros2/launch#588](https://github.com/ros2/launch/issues/588) to Humble.


[ ![@m-elwin](https://avatars.githubusercontent.com/u/10161574?s=40&v=4)
](/m-elwin) [ m-elwin ](/m-elwin) mentioned this issue  Aug 3, 2022


Sorry, something went wrong.


[
![@stefanscherzinger](https://avatars.githubusercontent.com/u/20354653?s=40&u=0c3bf9be8fdca789d9cdae0061f60c3a6f42b241&v=4)
](/stefanscherzinger)


    In issue [#577](https://github.com/ros2/launch/pull/577) , the 'output' option for logging in launch
    files was not participating in $(var) expansion (e.g., in
    xml launch files).

    The fix for this issue (commit [8006dfa](https://github.com/ros2/launch/commit/8006dfadcd4d77dfa0aedbc0030ae9ceab955165)) appears to
    have broken the use-case where the 'output' is specified
    as a dictionary (e.g., in python launch files).

    This commit checks if the output value is a dict
    and only does the command expansion if it is not.

    The 'output' value ultimately is passed to
    launch/launch/logging/__init__.py: get_output_loggers()
    which can accept either a string or a dict to specify
    the outputs

    Signed-off-by: Matthew Elwin <elwin@northwestern.edu>
    (cherry picked from commit [7b27e23](https://github.com/ros2/launch/commit/7b27e2345f6c205f8f88974fd2666c658beb3390))


ros2 launch bug.launch.py


` [ Addresses issue
](/ros2/launch/commit/db2cae1d534ad94a5bb0edfe156789a2deaf15bd "Addresses
issue #588, allowing dict for 'output' \(backport #640\) \(#647\)


Copy link


    * Addresses issue [#588](https://github.com/ros2/launch/issues/588), allowing dict for 'output'

    Signed-off-by: Matthew Elwin <elwin@northwestern.edu>
    Signed-off-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>

    Co-authored-by: Matthew Elwin <elwin@northwestern.edu>
    Co-authored-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>


[ RobertWilbrandt ](/RobertWilbrandt) added a commit to
RobertWilbrandt/Universal_Robots_ROS2_Driver that referenced this issue  Jun
13, 2022


[ Powered by Askbot version 0.10.2 ](http://askbot.com)


The `output` dictionary support needs a backport for


##  Stats


We now need to differentiate between the different ROS2 versions.


xml launch files\).


Signed-off-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>


[ none ](/questions/scope:all/sort:activity-desc/tags:none/page:1/) ×


` [ Fix integration test's launch config ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/6e22f82b365e13d4ceef0829b2dd30644e5f09e4
"Fix integration test's launch config


Merged


` [ Fix integration test's launch config ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/8854cabc7a622d1ad4f994cc38577fce7115b586
"Fix integration test's launch config


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have broken the use-case where the 'output' is specified


Co-authored-by: Matthew Elwin <elwin@northwestern.edu>


[ mjeronimo ](/mjeronimo) added a commit that referenced this issue  Aug 20,
2022


* Addresses issue #588, allowing dict for 'output'


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edit


# A representation of pose in free space, composed of position and orientation.
Point position
Quaternion orientation


    [INFO] [launch]: All log files can be found below /home/username/.ros/log/2022-01-24-08-22-15-307722-machinename-1831798
    [INFO] [launch]: Default logging verbosity is set to INFO
    [ERROR] [launch]: Caught exception in launch (see debug for traceback): stdoutstderr is not a valid standard output config i.e. "screen", "log" or "both"

---

The text was updated successfully, but these errors were encountered:


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Contributor


Query


is backported to Humble.") ` …


* Clean up ur_calibration cmake


All reactions


https://github.com/ros2/launch/issues/588 to Humble.") ` …


# Single scan from a planar laser range-finder
#
# If you have another ranging device with different behavior (e.g. a sonar
# array), please find or create a different message, since applications
# will make fairly laser-specific assumptions about this data
std_msgs/Header header # timestamp in the header is the acquisition time of
                             # the first ray in the scan.
                             #
                             # in frame frame_id, angles are measured around
                             # the positive Z axis (counterclockwise, if Z is up)
                             # with zero angle being forward along the x axis
float32 angle_min            # start angle of the scan [rad]
float32 angle_max            # end angle of the scan [rad]
float32 angle_increment      # angular distance between measurements [rad]
float32 time_increment       # time between measurements [seconds] - if your scanner
                             # is moving, this will be used in interpolating position
                             # of 3d points
float32 scan_time            # time between scans [seconds]
float32 range_min            # minimum range value [m]
float32 range_max            # maximum range value [m]
float32[] ranges             # range data [m]
                             # (Note: values < range_min or > range_max should be discarded)
float32[] intensities        # intensity data [device-specific units].  If your
                             # device does not provide intensities, please leave
                             # the array empty.


` [ 2ffc63b ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/2ffc63ba8b1386d606e4a5afc729da204f48a307)
`


* [ Pricing ](/pricing)


Clear


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](/stefanscherzinger)


Sort by »  [ oldest  ](/question/310626/dictionary-item-in-yaml-in-
ros2/?sort=oldest#sort-top) [ newest  ](/question/310626/dictionary-item-in-
yaml-in-ros2/?sort=latest#sort-top) [ most voted
](/question/310626/dictionary-item-in-yaml-in-ros2/?sort=votes#sort-top)


[ amalik  ](https://get-help.theconstruct.ai/u/amalik) October 3, 2022, 8:41am
2


This commit checks if the output value is a dict


[ albertoezquerro  ](https://get-help.theconstruct.ai/u/albertoezquerro)
October 4, 2022, 8:03am  3


[
![@hidmic](https://avatars.githubusercontent.com/u/13500507?s=80&u=fe56d14716c84c67d0b5e6a413481c86a09be593&v=4)
](/hidmic)


Fixed by [ #640 ](https://github.com/ros2/launch/pull/640)

---

All reactions


The 'output' value ultimately is passed to


` [ edf6891 ](/ros2/launch/commit/edf68913560ebb127441aca513519b4f3a2559bd) `


No branches or pull requests


edited


[ mjeronimo ](/mjeronimo) opened this issue  Jan 24, 2022  · 5 comments


Hi ,


Pick a username


[ edit ](/s/answers/311249/edit/) flag offensive  delete  [ link
](/question/310626/dictionary-item-in-yaml-in-ros2/?answer=311249#post-
id-311249 "permanent link") more


[ bug  ](/ros2/launch/labels/bug) Something isn't working  [ help wanted
](/ros2/launch/labels/help%20wanted) Extra attention is needed


Signed-off-by: Michael Jeronimo <michael.jeronimo@openrobotics.org>


**[ m-elwin ](/m-elwin) ** commented  Aug 9, 2022


##  Question Tools


[ stefanscherzinger ](/stefanscherzinger) added a commit to fzi-
forschungszentrum-informatik/cartesian_controllers that referenced this issue
Sep 28, 2022


##  Comments


Signed-off-by: Matthew Elwin <elwin@northwestern.edu>


https://github.com/ros2/launch/issues/588 to Humble.") ` …


[
![@RobertWilbrandt](https://avatars.githubusercontent.com/u/7694551?s=40&u=5a82d7bc655c3ae8b6d8b9889a2e3bedae2852b1&v=4)
](/RobertWilbrandt)


[
![@stefanscherzinger](https://avatars.githubusercontent.com/u/20354653?s=40&u=0c3bf9be8fdca789d9cdae0061f60c3a6f42b241&v=4)
](/stefanscherzinger)


Milestone


Closed


` [ Prepare for humble (
](/UniversalRobots/Universal_Robots_ROS2_Driver/commit/66eecf8322c0d08fd066ec78a9b5bc2f685c3b46
"Prepare for humble \(#394\)


have broken the use-case where the 'output' is specified


[ Request for Release in Humble and Rolling  #650  ](/ros2/launch/issues/650)


We now need to differentiate between the different ROS2 versions.


The `output` dictionary support needs a backport for


` [ 8f34c15 ](/ros2/launch/commit/8f34c15b31361caf017b3d5806588e202de479e5) `


which can accept either a string or a dict to specify


[
![@FranekStark](https://avatars.githubusercontent.com/u/22654048?s=80&u=573360e6924f629cf4d0b80691596b26ea638d06&v=4)
](/FranekStark)


[ Rolling Source Build Issues (FTC, so it may be just me...)  ros-
planning/moveit2#1217  ](/ros-planning/moveit2/issues/1217)


` [ b5c1900 ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/b5c1900b178e98a51b5fdcadbf96519f8facf297)
`


#  [ ROS2 Service Client in C++ with Classes with Node Inheritance
](/t/ros2-service-client-in-c-with-classes-with-node-inheritance/19647)


Today I figures out that the behavior of the output parameter in ros launch
acts very unexpected.
Because of the issue described above i changed it to output=log, expecting
that the rviz2 warnings will be send to the log file. However the INFO and
WARNINGS logs still appeared in the terminal output. But when I then changed
to output=own_log, the output in the terminal disappeared.
Anyone knows if this is another bug or is it related to this bug?

---

All reactions


    We drop the `stderr` option for now.
    It currently fails due to errors while parsing the `output` dictionary.
    Should be ok after the fix for [ros2/launch#588](https://github.com/ros2/launch/issues/588)
    is backported to Humble.


Run with:


` [ 7f190d8 ](/fzi-forschungszentrum-
informatik/cartesian_controllers/commit/7f190d837dd664434eda6791d0364d7dd0eb63f0)
`


[ ImportError: No module named launch ](/question/389046/importerror-no-
module-named-launch/)


1 Like


[ RobertWilbrandt ](/RobertWilbrandt) added a commit to
UniversalRobots/Universal_Robots_ROS2_Driver that referenced this issue  Jun
13, 2022


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* Work around ros2 launch output issue


[ ROS2 lifecycle node - how to shut down cleanly?
](/question/343744/ros2-lifecycle-node-how-to-shut-down-cleanly/)


##  Footer


[ ROS2 version ](/question/298827/ros2-version/)


It currently fails due to errors while parsing the `output` dictionary.


[ poonam1120 ](/users/38719/poonam1120/)
77  ●  9  ●  12  ●  14


\(cherry picked from commit 7b27e2345f6c205f8f88974fd2666c658beb3390\)") [
#588 ](https://github.com/ros2/launch/issues/588) [ , allowing dict for
'output' ](/ros2/launch/commit/8f34c15b31361caf017b3d5806588e202de479e5
"Addresses issue #588, allowing dict for 'output'


The fix for this issue \(commit 8006dfadc\) appears to


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  * stormlib
  * sugarplum
  * swagger-spec-validator
  * switchsh
  * synadm
  * tcl-sugar
  * test-check-clojure


* I start up the octomap_mapping.launch which should get the data from the tf-broadcaster and the pcl2-spammer and combine them to a octomap.


  * java-wrappers
  * open-coarrays
  * kdegraphics-thumbnailers
  * libnet-ipv6addr-perl
  * vamp-plugin-sdk
  * armadillo
  * libdata-validate-ip-perl
  * libberkeleydb-perl
  * obs-studio
  * python-websockets
  * libgadu
  * sip4
  * ttf-bitstream-vera
  * liblist-someutils-xs-perl
  * libjaxp1.3-java
  * strongswan
  * php-pear
  * tix
  * libdigest-bubblebabble-perl
  * btrfs-progs
  * gcc-14-cross
  * libnet-dns-sec-perl
  * jansi
  * socket++
  * libparse-recdescent-perl
  * dom4j
  * libsort-versions-perl
  * httpcomponents-core
  * libtext-template-perl
  * libjsr305-java
  * freeglut
  * sgmllib3k
  * libfile-homedir-perl
  * guava-libraries
  * python-cssselect
  * opusfile
  * google-perftools
  * ncdu
  * libjdom1-java
  * glew


  // finish MarkerArray:
  if (publishMarkerArray){
    for (unsigned i= 0; i < occupiedNodesVis.markers.size(); ++i){
      double size = m_octree->getNodeSize(i);


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Forward


##  Sample  ¶


  * scrot
  * asm
  * node-xtend
  * qt6-quick3d
  * asn1crypto
  * wspanish
  * libcarp-clan-perl
  * debian-keyring
  * isa-support
  * libxml-simple-perl
  * neofetch
  * zutty
  * libkf5kipi
  * zxcvbn-c
  * prompt-toolkit
  * webcolors
  * jaxb-api
  * gtkmm2.4
  * libipc-shareable-perl
  * liblog-dispatch-perl
  * python-rfc3987
  * libfabric
  * gumbo-parser
  * infinipath-psm
  * jsoup
  * mupdf
  * libbit-vector-perl
  * python-pluggy
  * python-jedi
  * php-symfony-contracts
  * python-docker
  * xsimd
  * tk-html3
  * python-gast
  * libtpms
  * python-beniget
  * libapache-poi-java
  * hidapi
  * pythran
  * python-odf


  * golang-github-pion-interceptor
  * golang-github-pion-mdns
  * golang-github-pion-rtcp
  * golang-github-pion-rtp
  * golang-github-pion-sctp
  * golang-github-pion-stun
  * golang-github-pion-transport
  * golang-github-pion-turn.v2
  * golang-github-pkg-term
  * golang-github-pointlander-peg
  * golang-github-rfjakob-eme
  * golang-github-rhnvrm-simples3
  * golang-github-sabhiram-go-gitignore
  * golang-github-sahilm-fuzzy
  * golang-github-sanity-io-litter
  * golang-github-sjoerdsimons-ostree-go
  * golang-github-smartystreets-go-aws-auth
  * golang-github-smartystreets-gunit
  * golang-github-ssgelm-cookiejarparser
  * golang-github-stevvooe-resumable
  * golang-github-templexxx-cpu
  * golang-github-templexxx-xorsimd
  * golang-github-tent-http-link-go
  * golang-github-tidwall-sjson
  * golang-github-twinj-uuid
  * golang-github-vultr-govultr
  * golang-github-xanzy-ssh-agent
  * golang-github-zenazn-goji
  * golang-gopkg-jcmturner-gokrb5.v5
  * golang-gopkg-redis.v2
  * golang-gopkg-xmlpath.v2
  * golang-k8s-utils
  * golang-layeh-gopher-luar
  * golang-maunium-go-maulogger
  * golang-maunium-go-mautrix
  * golang-pault-go-debian
  * golang-raven-go
  * golang-rsc-pdf
  * golang-starlark
  * goval-dictionary


  Octomap map;
  map.header.frame_id = m_worldFrameId;
  map.header.stamp = rostime;


      freeNodesVis.markers[i].header.frame_id = m_worldFrameId;
      freeNodesVis.markers[i].header.stamp = rostime;
      freeNodesVis.markers[i].ns = "map";
      freeNodesVis.markers[i].id = i;
      freeNodesVis.markers[i].type = visualization_msgs::Marker::CUBE_LIST;
      freeNodesVis.markers[i].scale.x = size;
      freeNodesVis.markers[i].scale.y = size;
      freeNodesVis.markers[i].scale.z = size;
      freeNodesVis.markers[i].color = m_colorFree;


  * traceshark
  * trurl
  * uhttpmock0
  * usbsdmux
  * variantslib
  * vish
  * vmdk-stream-converter
  * wmtv
  * wokkel
  * xcolmix
  * xmlbeans-maven-plugin
  * yokadi
  * abpoa
  * adaptive-wrap
  * alfred
  * amispammer
  * ample
  * angelscript
  * any2fasta
  * astropy-helpers
  * auto64fto32f
  * autoimport
  * beginend-el
  * bettercap-caplets
  * bioawk
  * biomaj3
  * biomaj3-download
  * biomaj3-process
  * biomaj3-user
  * bison++
  * bytes-circle
  * calypso
  * caps2esc
  * charts4j
  * clearsilver
  * crowdsec-firewall-bouncer
  * cvise
  * dbf
  * debputy
  * deepin-log-viewer


  * ii
  * java-policy
  * java3ds-fileloader
  * jeromq
  * jodconverter
  * krb5-sync
  * kylin-video
  * libb-lint-perl
  * libclass-refresh-perl
  * libcrypt-openssl-pkcs12-perl
  * libdevel-checklib-perl
  * libdevel-overrideglobalrequire-perl
  * libdkim
  * libenv-path-perl
  * libfile-treecreate-perl
  * liblingua-en-numbers-ordinate-perl
  * libmoosex-storage-perl
  * libosmium
  * libprogress-any-output-termprogressbarcolor-perl
  * librose-db-perl
  * libsieve
  * libstring-elide-parts-perl
  * libtest-compile-perl
  * libx11-freedesktop-desktopentry-perl
  * mapnik-reference
  * mbt
  * mecab-naist-jdic
  * node-configstore
  * node-gulp-util
  * nwdiag
  * onscripter
  * opm-grid
  * pcm
  * pfm
  * plume-creator
  * pqmarble
  * prodigal
  * psk31lx
  * pwntools
  * python-bashate


* ` ~self_see_links  ` (Array of link configuration, required)


  * python-monascaclient
  * python-nmea2
  * python-pbkdf2
  * r-bioc-hdf5array
  * r-cran-blockmodeling
  * raku-readline
  * ros-roslisp
  * rust-difference
  * rust-hyphenation
  * sphinx-book-theme
  * ukui-screensaver
  * vmfs6-tools
  * xsddiagram
  * abi-dumper
  * anfo
  * binutils-msp430
  * bootp
  * cl-fad
  * cl-ptester
  * conman
  * ctwm
  * debocker
  * dmagnetic
  * eclipse-debian-helper
  * epcr
  * findpython
  * fonts-montserrat
  * fonts-uniol
  * fq
  * golang-github-nxadm-tail
  * golang-gopkg-tomb.v2
  * gvidm
  * haskell-data-binary-ieee754
  * haskell-diagrams-svg
  * ical2html
  * instaloader
  * jigl
  * jupyter-telemetry
  * knowthelist
  * libcatalyst-controller-html-formfu-perl


  * libcleri
  * libcolor-palette-perl
  * libconfig-record-perl
  * libdancer-logger-psgi-perl
  * libdancer-logger-syslog-perl
  * libdancer-session-memcached-perl
  * libdata-pond-perl
  * libdata-transformer-perl
  * libdata-uuid-mt-perl
  * libdbix-admin-createtable-perl
  * libdeclare-constraints-simple-perl
  * libdevel-bt-perl
  * libdevel-caller-ignorenamespaces-perl
  * libdevel-findperl-perl
  * libdevel-pragma-perl
  * libdist-zilla-plugin-emailnotify-perl
  * libervia-pubsub
  * libexception-handler-perl
  * libextractor-java
  * libextutils-makemaker-dist-zilla-develop-perl
  * libfile-fu-perl
  * libfile-loadlines-perl
  * libfile-save-home-perl
  * libfile-type-webimages-perl
  * libfilter-eof-perl
  * libfinance-bank-ie-permanenttsb-perl
  * libflathashmap
  * libfortran-format-perl
  * libgen-test-rinci-funcresult-perl
  * libgraph-writer-dsm-perl
  * libham-locator-perl
  * libhinoko
  * libhtml-dashboard-perl
  * libhtml-diff-perl
  * libhtml-embedded-turtle-perl
  * libhtml-html5-microdata-parser-perl
  * libio-async-loop-mojo-perl
  * libirclib-java
  * libiscwt-java
  * libjira-client-automated-perl


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On Read the Docs


unread,


  * haskell-lens
  * input-utils
  * keras-preprocessing
  * libtest-pod-coverage-perl
  * node-d3-collection
  * ruby-aubio
  * ruby-rubame
  * blessings
  * claws-mail-themes
  * dokuwiki
  * gnome-shell-extension-hard-disk-led
  * libssw
  * pinball-table-gnu
  * python-schema-salad
  * python-traitsui
  * r-cran-corrplot
  * sdl-ball
  * stella
  * aspell-mr
  * bowtie
  * hexter
  * hisat2
  * ir.lv2
  * libauthen-simple-perl
  * libio-prompt-tiny-perl
  * libirecovery
  * myspell-el-gr
  * node-d3-selection
  * odil
  * php-random-compat
  * python-certbot-dns-rfc2136
  * qmidiarp
  * qt6-networkauth
  * sdbus-cpp
  * weasyprint
  * bedtools
  * bird2
  * librsb
  * libsuper-perl
  * lv2vocoder


[ Next  ](octree_change_detector.html "OctreeChangePublisher") [ Previous
](normal_estimation_omp.html "NormalEstimationOMP")


  2.1 Examine the code  ï

The top of the code includes the standard C++ headers you will be using. After
the standard C++ headers is the ` rclcpp/rclcpp.hpp  ` include which allows
you to use the most common pieces of the ROS 2 system. Last is `
std_msgs/msg/string.hpp  ` , which includes the built-in message type you will
use to publish data.

    #include <chrono>
    #include <functional>
    #include <memory>
    #include <string>

    #include "rclcpp/rclcpp.hpp"
    #include "std_msgs/msg/string.hpp"

    using namespace std::chrono_literals;

These lines represent the nodeâs dependencies. Recall that dependencies have
to be added to ` package.xml  ` and ` CMakeLists.txt  ` , which youâll do in
the next section.

The next line creates the node class ` MinimalPublisher  ` by inheriting from
` rclcpp::Node  ` . Every ` this  ` in the code is referring to the node.

    class MinimalPublisher : public rclcpp::Node

The public constructor names the node ` minimal_publisher  ` and initializes `
count_  ` to 0. Inside the constructor, the publisher is initialized with the
` String  ` message type, the topic name ` topic  ` , and the required queue
size to limit messages in the event of a backup. Next, ` timer_  ` is
initialized, which causes the ` timer_callback  ` function to be executed
twice a second.


  * tomopy
  * bart-cuda
  * doris
  * mumax3
  * nvidia-cudnn-frontend
  * publicfile-installer
  * stravalib
  * wnn7egg
  * cl-umlisp
  * indi-sbig
  * eos-downloader
  * eztrace-contrib
  * libdemeter-perl
  * r4d
  * stdgpu-contrib


  double total_elapsed = (ros::WallTime::now() - startTime).toSec();
  ROS_INFO("Binary octomap sent in %f sec", total_elapsed);
  return true;
}


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  * zthreads
  * clustershell
  * dir2ogg
  * dossizola
  * emscripten
  * flask-compress
  * gargoyle-free
  * haskell-glib
  * httraqt
  * inn2
  * kxl
  * libbiblio-endnotestyle-perl
  * libbson-perl
  * liblibrary-callnumber-lc-perl
  * node-copy-descriptor
  * node-object-copy
  * obexfs
  * open-build-service
  * ruby-jekyll-gist
  * ruby-jekyll-paginate
  * veroroute
  * yorick-yutils
  * edb-debugger
  * fastjet
  * fonts-sil-andika-compact
  * gnome-shell-extension-vertical-overview
  * grads
  * inadyn
  * liblxi
  * maq
  * node-array-unique
  * node-static-extend
  * php-doctrine-cache
  * pixmap
  * python-calmjs
  * python-calmjs.parse
  * python-calmjs.types
  * python-dnaio
  * python-rfc6555
  * pyvo


  * node-media-typer
  * node-range-parser
  * npm2deb
  * partimage-doc
  * pd-cxc
  * pd-earplug
  * pd-lua
  * pd-lyonpotpourri
  * pd-mjlib
  * pd-motex
  * python-django-tagging
  * python-multipletau
  * python-wget
  * ruby-stomp
  * rust-cairo-sys-rs
  * rust-clap-lex
  * rust-futures-executor
  * rust-gio-sys
  * ssss
  * starjava-vo
  * stiff
  * ttyload
  * wmsystemtray
  * xwallpaper
  * autoclass
  * blop-lv2
  * breathe
  * cmtk
  * disorderfs
  * dnsdiag
  * fonts-monlam
  * gnome-screensaver-flags
  * gpsmanshp
  * haskell-binary-orphans
  * haskell-silently
  * jerasure
  * jquery-colorbox
  * kunststoff
  * libb-hooks-op-ppaddr-perl
  * libfile-copy-link-perl


  if (m_filterGroundPlane && (m_pointcloudMinZ > 0.0 || m_pointcloudMaxZ < 0.0)){
    ROS_WARN_STREAM("You enabled ground filtering but incoming pointclouds will be pre-filtered in ["
              <<m_pointcloudMinZ <<", "<< m_pointcloudMaxZ << "], excluding the ground level z=0. "
              << "This will not work.");
  }


    // debug:
    //        pcl::PCDWriter writer;
    //        if (pc_ground.size() > 0)
    //          writer.write<PCLPoint>("ground.pcd",pc_ground, false);
    //        if (pc_nonground.size() > 0)
    //          writer.write<PCLPoint>("nonground.pcd",pc_nonground, false);


  * ecb
  * emacs-request
  * env2
  * flash
  * flask-openid
  * freebayes
  * fssync
  * gbrowse
  * git-publish
  * gladtex
  * glosstex
  * golang-github-coreos-bbolt
  * golang-github-grpc-ecosystem-grpc-gateway
  * golang-github-klauspost-crc32
  * golang-github-opencontainers-selinux
  * golang-github-pascaldekloe-goe
  * golang-github-pelletier-go-toml.v2
  * google-api-services-drive-java
  * gridlock.app
  * haskell-bytestring-to-vector
  * haskell-code-page
  * haskell-gsasl
  * haskell-hmatrix-gsl
  * haskell-lift-type
  * httpdirfs-fuse
  * jtharness
  * kwstyle
  * ldapjdk
  * libapp-stacktrace-perl
  * libcgi-untaint-perl
  * libcpuset
  * libdancer-plugin-database-core-perl
  * libdata-buffer-perl
  * libdata-pageset-perl
  * libdbm-deep-perl
  * libdexx-java
  * libdist-zilla-plugin-config-git-perl
  * libfile-flat-perl
  * libfolia
  * libhat-trie


from sensor_msgs.msg import PointCloud2


  * libmoosex-emulate-class-accessor-fast-perl
  * libnet-ifconfig-wrapper-perl
  * lv2file
  * node-parse-glob
  * php-horde-util
  * python-pyalsa
  * python-vlc
  * r-cran-eco
  * rdiff-backup-fs
  * ruby-http-accept
  * sentencepiece
  * shunit2
  * sitesummary
  * vim-ultisnips
  * webfs
  * xblast-tnt-images
  * xblast-tnt-models
  * yapps2
  * yorick-gy
  * beaker
  * cutesdr
  * fassets
  * festvox-suopuhe-lj
  * fonts-sawarabi-gothic
  * fonts-sawarabi-mincho
  * fonts-sil-andikanewbasic
  * fstl
  * libdevel-repl-perl
  * libgit-repository-plugin-log-perl
  * libiptables-parse-perl
  * libmath-bigint-gmp-perl
  * libterm-shell-perl
  * node-path-to-regexp
  * phcpack
  * php-doctrine-deprecations
  * python-i3ipc
  * python-treq
  * r-cran-optparse
  * ros-ros-environment
  * rust-mio


Same with original OctomapServer. The complete maximum-likelihood occupancy
map as compact OctoMap binary stream, encoding free and occupied space.


  m_markerPub = m_nh.advertise<visualization_msgs::MarkerArray>("occupied_cells_vis_array", 1, m_latchedTopics);
  m_binaryMapPub = m_nh.advertise<Octomap>("octomap_binary", 1, m_latchedTopics);
  m_fullMapPub = m_nh.advertise<Octomap>("octomap_full", 1, m_latchedTopics);
  m_pointCloudPub = m_nh.advertise<sensor_msgs::PointCloud2>("octomap_point_cloud_centers", 1, m_latchedTopics);
  m_mapPub = m_nh.advertise<nav_msgs::OccupancyGrid>("projected_map", 5, m_latchedTopics);
  m_fmarkerPub = m_nh.advertise<visualization_msgs::MarkerArray>("free_cells_vis_array", 1, m_latchedTopics);


  * jquery-sortablejs
  * jschema-to-python
  * jsunit
  * jugglinglab
  * jupyter-ydoc
  * kazocsaba-imageviewer
  * kiwi-boxed-plugin
  * klepto
  * kmfl-keyboards-mywin
  * kuttypy
  * kwartz-client
  * lgooddatepicker
  * liac-arff
  * libalgorithm-hyperloglog-perl
  * libargparse
  * libatteanx-store-dbi-perl
  * libatteanx-store-ldf-perl
  * libauthen-sasl-xs-perl
  * libbiblio-lcc-perl
  * libbiblio-sici-perl
  * libbusiness-isin-perl
  * libbusiness-onlinepayment-openecho-perl
  * libbusiness-onlinepayment-paymentech-perl
  * libbusiness-onlinepayment-viaklix-perl
  * libcatmandu-aat-perl
  * libcatmandu-breaker-perl
  * libcatmandu-cmd-repl-perl
  * libcatmandu-crossref-perl
  * libcatmandu-dbi-perl
  * libcatmandu-exporter-table-perl
  * libcatmandu-fix-cmd-perl
  * libcatmandu-fix-datahub-perl
  * libcatmandu-inspire-perl
  * libcatmandu-markdown-perl
  * libcatmandu-mediawiki-perl
  * libcatmandu-oai-perl
  * libcatmandu-plos-perl
  * libcatmandu-pubmed-perl
  * libcatmandu-pure-perl
  * libcatmandu-ris-perl


  * paramcoq
  * paramspider
  * parsley-clojure
  * paryfor
  * pathos
  * pcpp
  * pdbg
  * pdqsort
  * pg-ldap-sync
  * pg-squeeze
  * pgocaml
  * phosh-wallpapers
  * php-async-aws-sns
  * php-async-aws-sqs
  * php-codeigniter-framework
  * php-lcobucci-clock
  * php-lcobucci-jwt
  * php-webimpress-safe-writer
  * piespy
  * pkcs11-provider
  * plotsauce
  * powa-collector
  * pox
  * ppc64-diag
  * ppx-assert
  * ppx-deriving-yojson
  * ppx-enumerate
  * ppx-globalize
  * ppx-optcomp
  * ppx-stable-witness
  * priv-wrapper
  * proftpd-mod-sftp-ldap
  * prometheus-trafficserver-exporter
  * puppet-module-adrienthebo-filemapper
  * puppet-module-alteholz-tdc
  * puppet-module-antonlindstrom-powerdns
  * puppet-module-camptocamp-postfix
  * puppet-module-camptocamp-systemd
  * puppet-module-debian-archvsync
  * puppet-module-heini-wait-for


  * discosnp
  * dnsvi
  * dominate
  * dosage
  * flake8-builtins
  * flask-limiter
  * gemmi
  * golang-github-dghubble-sling
  * golang-github-gorilla-securecookie
  * golang-github-imdario-mergo
  * golang-github-mrunalp-fileutils
  * golang-gopkg-eapache-queue.v1
  * golang-k8s-sigs-yaml
  * google-api-services-sheets-java
  * harmony
  * haskell-annotated-wl-pprint
  * haskell-cryptonite-conduit
  * haskell-gi-dbusmenugtk3
  * haskell-hcwiid
  * haskell-hs-bibutils
  * haskell-http-media
  * haskell-path-io
  * haskell-rate-limit
  * haskell-tagstream-conduit
  * haskell-th-data-compat
  * haskell-time-units
  * httpcomponents-core5
  * icecream
  * inifile
  * jalview
  * jsmath-fonts-sprite
  * kconfiglib
  * kissplice
  * libalgorithm-svm-perl
  * libapache-sessionx-perl
  * libconfig-model-itself-perl
  * libcyaml
  * libdist-zilla-plugin-test-perl-critic-perl
  * liberator-clojure
  * libfile-searchpath-perl


ROS_INFO("Octomap file %s loaded (%zu nodes).", filename.c_str(),m_octree->size());


  m_nh_private.param("color_free/r", r, 0.0);
  m_nh_private.param("color_free/g", g, 1.0);
  m_nh_private.param("color_free/b", b, 0.0);
  m_nh_private.param("color_free/a", a, 1.0);
  m_colorFree.r = r;
  m_colorFree.g = g;
  m_colorFree.b = b;
  m_colorFree.a = a;


  * hub
  * kerneltop
  * knxd
  * libcatalyst-dispatchtype-regex-perl
  * libgltf
  * lie
  * mlpack
  * neuron
  * nvptx-tools
  * pd-comport
  * r-cran-conting
  * rust-thread-id
  * scanbd
  * vcversioner
  * adonthell
  * async-http-client
  * cimfomfa
  * convertdate
  * ffc
  * fonts-sil-mondulkiri
  * haskell-simple-sendfile
  * iem-plugin-suite
  * jsap
  * libdata-peek-perl
  * libhtml-rewriteattributes-perl
  * libphp-snoopy
  * libvc
  * lua-argparse
  * mailman-suite
  * menhir
  * mozilla-devscripts
  * ocaml-stdcompat
  * pd-purepd
  * plakativ
  * python-softlayer
  * qd
  * ruby-text-format
  * rust-static-assertions
  * rust-syn-mid
  * smbus2


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  * rust-alacritty
  * dehydrated
  * pytest-astropy
  * saods9
  * libterm-readline-perl-perl
  * sash
  * nedit
  * ruby-fog-xml
  * ruby-paint
  * haskell-blaze-builder
  * libgetopt-argvfile-perl
  * moc
  * netkit-rwho
  * python-editables
  * nocache
  * snack
  * node-bluebird
  * dislocker
  * keychain
  * xosd
  * node-registry-auth-token
  * source-extractor
  * libharu
  * lolcat
  * node-package-json
  * node-registry-url
  * node-is-npm
  * lib3ds
  * gitlab-ci-multi-runner
  * libident
  * libmath-round-perl
  * r-cran-iterators
  * r-cran-foreach
  * ruby-kramdown
  * waitress
  * kstart
  * libdbix-contextualfetch-perl
  * libmatch-simple-xs-perl
  * node-editor
  * ruby-fog-libvirt


Forward


  * golang-github-vmihailenco-msgpack.v5
  * golang-github-vmihailenco-tagparser.v2
  * golang-github-vulcand-predicate
  * golang-github-wader-readline
  * golang-github-weaveworks-mesh
  * golang-github-willf-bloom
  * golang-github-xanzy-go-cloudstack
  * golang-github-xhit-go-str2duration
  * golang-github-xorcare-pointer
  * golang-github-xorpaul-uiprogress
  * golang-github-xyproto-pinterface
  * golang-github-xyproto-simpleredis
  * golang-github-yl2chen-cidranger
  * golang-github-ymomoi-goval-parser
  * golang-github-yohcop-openid-go
  * golang-github-youpy-go-riff
  * golang-github-youpy-go-wav
  * golang-github-yuin-goldmark-highlighting
  * golang-github-zaf-g711
  * golang-github-zeebo-errs
  * golang-gitlab-gitlab-org-labkit
  * golang-gitlab-lupine-go-mimedb
  * golang-gitlab-yawning-edwards25519-extra
  * golang-go.mau-mauview
  * golang-gopkg-h2non-gock.v1
  * golang-gopkg-hlandau-acmeapi.v2
  * golang-gopkg-macaroon.v2
  * golang-gopkg-mcuadros-go-syslog.v2
  * golang-honnef-go-augeas
  * golang-nhooyr-websocket
  * golang-pault-go-gecos
  * golang-pault-go-technicolor
  * golang-sourcehut-emersion-go-scfg
  * golang-sourcehut-rockorager-tcell-term
  * grammatica
  * gs-collections
  * hackage-tracker
  * haskell-deferred-folds
  * haskell-doctest-parallel
  * haskell-fgl-arbitrary


  * recoverdm
  * suede
  * thunderbolt-tools
  * unicode
  * hashid
  * libtemplate-plugin-dbi-perl
  * rust-proc-macro2
  * adolc
  * apt-transport-tor
  * crudini
  * haskell-extensible-exceptions
  * ispell-czech
  * libluksde
  * opendht
  * r-cran-survey
  * catimg
  * dmitry
  * golang-golang-x-sys
  * libjson-webtoken-perl
  * libsys-utmp-perl
  * ns2
  * phpunit-global-state
  * r-cran-msm
  * samdump2
  * yosys
  * autorandr
  * phpunit-object-enumerator
  * phpunit-resource-operations
  * pnscan
  * pyte
  * rust-syn
  * searchandrescue
  * apt-src
  * bully
  * debmirror
  * polspline
  * rman
  * ruby-sass-rails
  * vim-fugitive
  * gtk-chtheme


  * bdflib
  * bdist-nsi
  * beanbag-docutils
  * bifrost
  * blaspp
  * brebis
  * burrow
  * c2go
  * camlmix
  * camltemplate
  * camping
  * chalow
  * check-pgbackrest
  * chemonomatopist
  * chewing-editor
  * cif2hkl
  * cl-lml
  * cl-xptest
  * clap
  * cldump
  * click-help-colors
  * codicefiscale
  * com-hypirion-io-clojure
  * concurrentqueue
  * coq-dpdgraph
  * corrosion
  * cppimport
  * cpptoml
  * crowbar
  * ctdopts
  * darcs-monitor
  * decko
  * deets
  * denss
  * desktop-autoloader
  * dewalls
  * dials-data
  * dirty-equals
  * django-cacheops
  * django-cleanup


  * golang-github-huandu-go-assert
  * golang-github-hydrogen18-memlistener
  * golang-github-iafan-cwalk
  * golang-github-ianbruene-go-difflib
  * golang-github-igm-pubsub
  * golang-github-igm-sockjs-go
  * golang-github-influxdata-line-protocol
  * golang-github-intel-go-cpuid
  * golang-github-ionos-cloud-sdk-go
  * golang-github-jaguilar-vt100
  * golang-github-jaksi-sshutils
  * golang-github-jamesruan-go-rfc1924
  * golang-github-jamiealquiza-tachymeter
  * golang-github-jasonish-go-idsrules
  * golang-github-jaypipes-pcidb
  * golang-github-jedisct1-go-hpke-compact
  * golang-github-jeremija-gosubmit
  * golang-github-jesseduffield-go-getter
  * golang-github-jesseduffield-go-git
  * golang-github-jesseduffield-gocui
  * golang-github-jesseduffield-pty
  * golang-github-jesseduffield-roll
  * golang-github-jesseduffield-rollrus
  * golang-github-jesseduffield-termbox-go
  * golang-github-jesseduffield-yaml
  * golang-github-jkeiser-iter
  * golang-github-jochenvg-go-udev
  * golang-github-johanneskaufmann-html-to-markdown
  * golang-github-jonas-p-go-shp
  * golang-github-jszwec-csvutil
  * golang-github-juju-aclstore
  * golang-github-juju-persistent-cookiejar
  * golang-github-juju-schema
  * golang-github-juju-simplekv
  * golang-github-juju-usso
  * golang-github-kata-containers-govmm
  * golang-github-kelvins-sunrisesunset
  * golang-github-keybase-go-ps
  * golang-github-knq-snaker
  * golang-github-knqyf263-go-apk-version


  // finish pointcloud:
  if (publishPointCloud){
    sensor_msgs::PointCloud2 cloud;
    pcl::toROSMsg (pclCloud, cloud);
    cloud.header.frame_id = m_worldFrameId;
    cloud.header.stamp = rostime;
    m_pointCloudPub.publish(cloud);
  }


  * python-icecream
  * python-nxs
  * python-pynetbox
  * python-spython
  * python-tokenize-rt
  * pytorch-text
  * pyupgrade
  * r-cran-gridtext
  * r-cran-surveillance
  * r-cran-tigger
  * rdp-readseq
  * redisearch
  * rmagic
  * ros2-colcon-bash
  * ros2-colcon-cd
  * ros2-colcon-defaults
  * ros2-colcon-devtools
  * ros2-colcon-metadata
  * ros2-colcon-output
  * ros2-colcon-package-information
  * ros2-colcon-package-selection
  * ros2-colcon-parallel-executor
  * ros2-colcon-zsh
  * ruby-powerbar
  * ruby-re2
  * ruby-sd-notify
  * rust-futures
  * rust-toml-0.5
  * sccache
  * segemehl
  * sfnt2woff-zopfli
  * shell-utils-clojure
  * smarty4
  * sniproxy
  * sortmerna
  * sword-comm-scofield
  * t50
  * tack
  * taggrepper
  * threeten-extra


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Delete


###  Timo Silva


  Related content  ï

There are several ways you could write a publisher and subscriber in C++;
check out the ` minimal_publisher  ` and ` minimal_subscriber  ` packages in
the [ ros2/examples
](https://github.com/ros2/examples/tree/humble/rclcpp/topics) repo.

[ Previous ](Creating-Your-First-ROS2-Package.html "Creating a package") [
Next  ](Writing-A-Simple-Py-Publisher-And-Subscriber.html "Writing a simple
publisher and subscriber \(Python\)")

* * *

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Other Versions  v: humble

Releases

     [ Iron (latest) ](../../../iron/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html)
     [ Humble ](Writing-A-Simple-Cpp-Publisher-And-Subscriber.html)
     [ Galactic (EOL) ](../../../galactic/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html)
     [ Foxy (EOL) ](../../../foxy/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html)
     [ Eloquent (EOL) ](../../../eloquent/index.html)
     [ Dashing (EOL) ](../../../dashing/index.html)
     [ Crystal (EOL) ](../../../crystal/index.html)

In Development

     [ Rolling ](../../../rolling/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html)


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  * rust-lz4-flex
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  * rust-markup5ever-rcdom
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  * rust-vhost
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  * rust-virtio-queue
  * rust-wadl
  * rust-wasm-bindgen-webidl
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  * rust-wl-clipboard-rs
  * rust-wycheproof
  * rust-xor-name
  * rust-xxhash-c-sys
  * rust-yasna
  * rust-zbar-rust
  * rust-zxcvbn
  * s390-sysconfig-writer
  * s390-zfcp
  * safe-vdash
  * safelease
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  * scrape-schema-recipe
  * segment
  * senlin-tempest-plugin
  * serverspec-runner
  * speechpy-fast
  * sphde
  * spopt
  * srslte
  * swift-bench
  * target-factory