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CeTI
ROS
ROS Java Packages
Rosjava Core Gradle
Commits
95be0528
Commit
95be0528
authored
11 years ago
by
Daniel Stonier
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fixed docs for the executing nodes tutorial.
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0bb6655b
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docs/src/main/sphinx/getting_started.rst
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16 additions, 19 deletions
docs/src/main/sphinx/getting_started.rst
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docs/src/main/sphinx/getting_started.rst
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95be0528
...
@@ -8,7 +8,7 @@ Creating a new Java package
...
@@ -8,7 +8,7 @@ Creating a new Java package
Please refer to the `RosWiki`_ for more information on how to create a new
Please refer to the `RosWiki`_ for more information on how to create a new
gradle/catkin project and subprojects. You might also wish to read the
gradle/catkin project and subprojects. You might also wish to read the
Gradle `Java tutorial`_ for more details.
Gradle `Java tutorial`_ for more details
about building with gradle itself
.
.. _RosWiki: http://wiki.ros.org/rosjava
.. _RosWiki: http://wiki.ros.org/rosjava
.. _Maven plugin: http://gradle.org/docs/current/userguide/maven_plugin.html
.. _Maven plugin: http://gradle.org/docs/current/userguide/maven_plugin.html
...
@@ -151,11 +151,13 @@ processes:
...
@@ -151,11 +151,13 @@ processes:
.. code-block:: bash
.. code-block:: bash
roscd rosjava_tutorial_pubsub
# source your devel/setup.bash
roscd rosjava_core
cd rosjava_tutorial_pubsub
../gradlew installApp
../gradlew installApp
roscore &
roscore &
./build/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Talker &
./build/
install/
rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Talker &
./build/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Listener
./build/
install/
rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Listener
.. note:: The above example launches roscore and the Talker node in the
.. note:: The above example launches roscore and the Talker node in the
background. You could instead launch each in a separate terminal. Also, you
background. You could instead launch each in a separate terminal. Also, you
...
@@ -176,8 +178,8 @@ the default topic /chatter to /foo.
...
@@ -176,8 +178,8 @@ the default topic /chatter to /foo.
.. code-block:: bash
.. code-block:: bash
./build/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Talker chatter:=/foo &
./build/
install/
rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Talker chatter:=/foo &
./build/rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Listener chatter:=/foo
./build/
install/
rosjava_tutorial_pubsub/bin/rosjava_tutorial_pubsub org.ros.rosjava_tutorial_pubsub.Listener chatter:=/foo
See :roswiki:`Remapping%20Arguments` for more information on passing arguments
See :roswiki:`Remapping%20Arguments` for more information on passing arguments
to ROS executables.
to ROS executables.
...
@@ -231,11 +233,13 @@ Building and executing these nodes works in the same manner as described above:
...
@@ -231,11 +233,13 @@ Building and executing these nodes works in the same manner as described above:
.. code-block:: bash
.. code-block:: bash
roscd rosjava_tutorial_services
# source your devel/setup.bash
roscd rosjava_core
cd rosjava_tutorial_services
../gradlew installApp
../gradlew installApp
roscore &
roscore &
./build/rosjava_tutorial_services/bin/rosjava_tutorial_services org.ros.rosjava_tutorial_services.Server &
./build/
install/
rosjava_tutorial_services/bin/rosjava_tutorial_services org.ros.rosjava_tutorial_services.Server &
./build/rosjava_tutorial_services/bin/rosjava_tutorial_services org.ros.rosjava_tutorial_services.Client
./build/
install/
rosjava_tutorial_services/bin/rosjava_tutorial_services org.ros.rosjava_tutorial_services.Client
At this point, you should see the log message "2 + 2 = 4" appear in your
At this point, you should see the log message "2 + 2 = 4" appear in your
terminal. You can also access the service using the :roswiki:`rosservice`
terminal. You can also access the service using the :roswiki:`rosservice`
...
@@ -266,16 +270,8 @@ the underlying message implementation to change in the future. ::
...
@@ -266,16 +270,8 @@ the underlying message implementation to change in the future. ::
PointCloud2 msg = node.getTopicMessageFactory()
PointCloud2 msg = node.getTopicMessageFactory()
.newMessage(sensor_msgs.PointCloud._TYPE);
.newMessage(sensor_msgs.PointCloud._TYPE);
If you want to use messages that you define:
If you want to use messages that you define, whether they are officially released packages or your
own custom packages, follow the instructions on the roswiki (refer to :roswiki:`rosjava/Messages`).
- create a new package for those messages (e.g. my_msgs)
- ensure that my_msgs is in your ROS_PACKAGE_PATH (see :roswiki:`EnvironmentVariables`)
- reinstall rosjava_messages (see :doc:`building`)
.. code-block:: bash
roscd rosjava_messages
../gradlew install
Parameters
Parameters
----------
----------
...
@@ -358,3 +354,4 @@ logging outputs for ROS. ::
...
@@ -358,3 +354,4 @@ logging outputs for ROS. ::
.. _Apache Commons Log: http://commons.apache.org/logging/commons-logging-1.1.1/apidocs/index.html
.. _Apache Commons Log: http://commons.apache.org/logging/commons-logging-1.1.1/apidocs/index.html
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