A minimal example of creating a ROS node that subscribes to topics and converts the messages to rerun log calls.
The solution here is mostly a toy example to show how ROS concepts can be mapped to Rerun. Fore more information on future improved ROS support, see the tracking issue: #1527
NOTE: Unlike many of the other examples, this example requires a system installation of ROS in addition to the packages from requirements.txt.
Installing ROS is outside the scope of this example, but you will need the equivalent of the following packages:
sudo apt install ros-humble-desktop gazebo ros-humble-navigation2 ros-humble-turtlebot3 ros-humble-turtlebot3-gazebo
In addition to installing the dependencies from
requirements.txt into a venv you will also need to source the
ROS setup script:
source venv/bin/active source /opt/ros/humble/setup.bash
First, in one terminal launch the nav2 turtlebot demo:
source /opt/ros/humble/setup.bash export TURTLEBOT3_MODEL=waffle export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False
As described in the nav demo, use the rviz window to initialize the pose estimate and set a navigation goal.
You can now connect to the running ROS system by running: