This package is a server for bridging ROS 2 and gRPC.
Keywords: ROS 2, gRPC
First, run the following in the terminal:
cd ~/dev_ws
colcon build --packages-select ros2_grpc_server --cmake-args -DBUILD_CPP_SOURCE=OFF
. install/setup.bash
ros2 run ros2_grpc_server float32_serverSecond, run the following in the terminal:
cd ~/dev_ws && . install/setup.bash
ros2 topic pub -r 1 /data std_msgs/msg/Float32 "{data: 5.0}"Finally, run the following in the terminal:
cd ~/dev_ws/src/ros2_grpc_server/script && python3 grpc_client.py
If you want to communicate only with gRPC, please execute the following.
cd ~/dev_ws
colcon build --packages-select ros2_grpc_serer
cd ~/dev_ws/src/ros2_grpc_server/build
cmake ..
make
./pose_server
./pose_client 0 2 1
The source code is released under a MIT license.