Installation
Preconditions
Before installing and using the ADMA ROS driver you have to install ROS2 on your system. Please refern to the relating documentation of the respective ROS distribution.
Workspace and Repository
Create your ROS workspace and clone this repository. The name of your workspace can be chosen freely.
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone -b ros2_master https://github.com/GeneSysElektronik/adma_ros_driver.gitNote: In the example we used the HTTPS Link, you can also use SSH.
ROS Dependencies
Install all needed ROS dependencies. The warning "ament_cmake_clange_format" can be ignored.
cd ~/ros2_ws
# source ROS
. /opt/ros/$ROS_DISTRO/setup.bash
# initialize rosdep
sudo rosdep init # only required if not already done for other projects on your system
# update rosdep
rosdep update
# install dependencies
rosdep install --from-paths src --ignore-src -yNote: If you want to avoid sourcing the ROS distribution manually in every terminal session, add the source command to your .bashrc file as follows.
#------------------------------------------------------------
# Add ROS2 Humble
source /opt/ros/$ROS_DISTRO/setup.bash
#------------------------------------------------------------
Building the Workspace
cd ~/ros2_ws
. /opt/ros/$ROS_DISTRO/setup.bash
colcon build --symlink-installConfiguration of the driver
Configure the ADMA and the ROS Driver accordingly (see Configuration Parameters).
Starting the driver
After sourcing the driver you are able to start it. For adapting the driver configuration to your surrounding please refer to the article ROS2 - Configuration.
. install/setup.bash
ros2 launch adma_ros2_driver adma_driver.launch.pyWatch live data
When the driver is running it is possible to open up a second terminal and show the current data packet values of the ADMA data stream.
. ~/ros2_ws/install/setup.bash
. /opt/ros/$ROS_DISTRO/setup.bash
ros2 topic list
ros2 topic echo /genesys/adma/data_scaled
