hongbo-miao/hongbomiao.com

ros-run-cpp-talker-listener:
    ros2 run demo_nodes_cpp talker
    ros2 run demo_nodes_cpp listener
ros-run-python-talker-listener:
    ros2 run demo_nodes_py talker
    ros2 run demo_nodes_py listener
ros-run-turtlesim:
    ros2 run turtlesim turtlesim_node
    ros2 run turtlesim turtle_teleop_key

ros2-pkg-create-cpp-package:
    cd src && ros2 pkg create --build-type=ament_cmake --node-name=hm_cpp_node --dependencies=rclcpp hm_cpp_package
ros2-pkg-create-python-package:
    cd src && ros2 pkg create --build-type=ament_python --node-name=hm_python_node --dependencies=rclpy hm_python_package
ros2-pkg-create-launch-package:
    cd src && ros2 pkg create turtle_robot_launch
ros2-pkg-create-interface:
    cd src && ros2 pkg create hm_python_package

ros2-set-up:
    source install/set_up.sh

colcon-build:
    colcon build
colcon-build-package:
    colcon build --packages-select=hm_cpp_package
    colcon build --packages-select=hm_python_package
    colcon build --packages-select=turtle_robot
    colcon build --packages-select=turtle_robot_launch
colcon-build-package-python-debug:
    # `--symlink-install` helps avoid rebuilding for Python, but not for C++
    colcon build --packages-select=hm_python_package --symlink-install
    colcon build --packages-select=turtle_robot --symlink-install

ros2-run:
    ros2 run hm_cpp_package hm_cpp_node
    ros2 run hm_python_package hm_python_node
    ros2 run turtle_robot target_control_node
    ros2 run turtle_robot turtle_robot_control_node
ros2-run-remap:
    ros2 run xxx_package xxx_node --ros-args --remap __node:=new_node
    ros2 run xxx_package xxx_node --ros-args --remap xxx_topic:=new_topic
    ros2 run xxx_package xxx_node --ros-args --remap xxx_service:=new_service
    ros2 run xxx_package xxx_node --ros-args --param xxx_param:=42
ros2-launch:
    ros2 launch turtle_robot_launch turtle_robot.launch.py

launch-test:
    launch_test src/turtle_robot/test/test_target_control_node.py

colcon-test:
    colcon test --return-code-on-test-failure
colcon-test-package:
    colcon test --packages-select=hm_cpp_package --return-code-on-test-failure
    colcon test --packages-select=hm_python_package --return-code-on-test-failure
    # Log: robotics/robot-operating-system/log/latest_test/turtle_robot/stdout_stderr.log
    colcon test --packages-select=turtle_robot --return-code-on-test-failure

ros2-service-list:
    ros2 service list
ros2-service-type:
    ros2 service type /clear
ros2-service-call:
    ros2 service call /clear std_srvs/srv/Empty
    ros2 service call /spawn turtlesim/srv/Spawn "{x: 2.0, y: 2.0, theta: 0.0, name: 'turtle_robot'}"

ros2-node-list:
    ros2 node list
ros2-node-info:
    ros2 node info /turtlesim

ros2-topic-list:
    ros2 topic list
ros2-topic-echo:
    ros2 topic echo /turtle1/cmd_vel
ros2-topic-info:
    ros2 topic info /turtle1/cmd_vel
ros2-topic-health:
    ros2 topic hz /turtle1/cmd_vel
ros2-topic-publish:
    ros2 topic pub -r 10 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}"

ros2-bag-record:
    ros2 bag record /turtle1/cmd_vel --output my_bag
    ros2 bag record /turtle1/cmd_vel /turtle2/cmd_vel --output my_bag
    ros2 bag record --all --output my_bag
ros2-bag-info:
    ros2 bag info my_bag
ros2-bag-play:
    ros2 bag play my_bag

ros2-interface-list:
    ros2 interface list
ros2-interface-package-list:
    ros2 interface package turtlebot3_msgs
ros2-interface-show:
    ros2 interface show geometry_msgs/msg/Twist

ros2-pkg-list:
    ros2 pkg list
ros2-param-list:
    ros2 param list
ros2-param-get:
    ros2 param get /turtlesim use_sim_time