From e2e9630560b9ab3caab52d20ec7b550eabb035c6 Mon Sep 17 00:00:00 2001 From: Hyunsoo0o0 <112581673+Hyunsoo0o0@users.noreply.github.com> Date: Fri, 25 Oct 2024 18:35:53 +0900 Subject: [PATCH] Update documentation for working with GurumDDS (#4823) Co-authored-by: gurum (cherry picked from commit 1cce6f60318c0f1065dfcf73c5f7486b3bb96193) --- .../Working-with-GurumNetworks-GurumDDS.rst | 76 +++++++++---------- 1 file changed, 36 insertions(+), 40 deletions(-) diff --git a/source/Installation/DDS-Implementations/Working-with-GurumNetworks-GurumDDS.rst b/source/Installation/DDS-Implementations/Working-with-GurumNetworks-GurumDDS.rst index df26143196..eadf5ebf66 100644 --- a/source/Installation/DDS-Implementations/Working-with-GurumNetworks-GurumDDS.rst +++ b/source/Installation/DDS-Implementations/Working-with-GurumNetworks-GurumDDS.rst @@ -1,90 +1,82 @@ .. redirect-from:: - Working-with-GurumNetworks-GurumDDS + Working-with-GurumNetworks-GurumDDS GurumNetworks GurumDDS ====================== - -rmw_gurumdds is a implementation of the ROS middleware interface using GurumNetworks GurumDDS. -More information about GurumDDS is available on our website: https://gurum.cc/index_eng +``rmw_gurumdds`` is an implementation of the ROS middleware interface using GurumNetworks GurumDDS. For more information about GurumDDS, visit the `GurumNetworks website `_. Prerequisites ------------- +This guide assumes you have completed the ROS 2 environment setup process, either by :doc:`Installing ROS 2 via Deb Packages <../Ubuntu-Install-Debs>` or :doc:`Building ROS 2 from source on Ubuntu <../Alternatives/Ubuntu-Development-Setup>`. -The following description assumes that you have completed the 'Environment setup' process -from the :doc:`Installing ROS 2 via deb Packages <../Ubuntu-Install-Debs>` or -from the :doc:`Building ROS 2 on Ubuntu Linux <../Alternatives/Ubuntu-Development-Setup>`. - -rmw_gurumdds requires version of GurumDDS-2.8.x. -Deb packages of GurumDDS are provided in the ROS 2 apt repositories on Ubuntu. -Windows binary installer of GurumDDS will be supported soon. +Version Requirements (`see the README for details `_): -GurumDDS requires a license. See the next page: https://gurum.cc/free_trial_eng.html +================ ================ +ROS 2 Distro GurumDDS Version +================ ================ +rolling >= 3.2.0 +jazzy >= 3.2.0 +humble 3.1.x +================ ================ -After requesting a trial license, please download the license from the license homepage. -After getting a license, move it to the following location. +Deb packages of GurumDDS are provided in the ROS 2 apt repositories on Ubuntu. +Windows binary installer of GurumDDS will be available soon. -============= ================ - DDS Version License Location -============= ================ -<= 2.7.2860 /etc/flame ->= 2.7.2861 /etc/gurumnet -2.8.x /etc/gurumnet -============= ================ +You can obtain a free trial license from the `GurumDDS Free Trial page `_. +After acquiring a license, place it in the following location: ``/etc/gurumnet`` -Install packages ----------------- -The easiest way is to install from ROS 2 apt repository. -When ros-{DISTRO}-rmw-gurumdds-cpp is installed, gurumdds-2.8 is also installed. +Installation +------------ +Option 1: Install from the ROS 2 apt repository (Recommended) +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ .. code-block:: bash sudo apt install ros-{DISTRO}-rmw-gurumdds-cpp -Build from source code ----------------------- - -Building from source code is also another way to install. +This installs both ``rmw_gurumdds_cpp`` and ``gurumdds``. -First, clone rmw_gurumdds in the ROS 2 workspace source directory. +Option 2: Build from source code +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +1. Clone the repository .. code-block:: bash cd ros2_ws/src git clone https://github.com/ros2/rmw_gurumdds -b {DISTRO} ros2/rmw_gurumdds -Then, install necessary packages for GurumDDS. +2. Install dependencies: .. code-block:: bash cd .. rosdep install --from src -i --rosdistro {DISTRO} -Finally, run colcon build. +3. Build the worksapce using Colcon: .. code-block:: bash colcon build --symlink-install -Switch to rmw_gurumdds ------------------------- -Switch from other rmw to rmw_gurumdds by specifying the environment variable. +Switch to rmw_gurumdds +---------------------- +Switch from other RMW implementations to rmw_gurumdds by setting the environment variable: .. code-block:: bash export RMW_IMPLEMENTATION=rmw_gurumdds_cpp -See also: :doc:`Working with multiple RMW implementations <../../How-To-Guides/Working-with-multiple-RMW-implementations>` +For more information on working with multiple RMW implementations, see :doc:`Working with multiple RMW implementations <../../How-To-Guides/Working-with-multiple-RMW-implementations>`. -Run the talker and listener ---------------------------- -Now run ``talker`` and ``listener`` to test GurumDDS. -Don't forget to set up environment by setup script. +Testing the installation +------------------------ +Run the ``talker`` and ``listener`` nodes to verify your installation: .. code-block:: bash @@ -93,3 +85,7 @@ Don't forget to set up environment by setup script. .. code-block:: bash ros2 run demo_nodes_cpp listener + +If the nodes communicate successfully, your installation is working correctly. + +.. note:: Remember to source your ROS 2 setup script before running these commands.