Execute Generated ROS Launch File

Now that you have generated a ROS package (containing a number of custom .launch files) from your system model, you can test it out on your Linux machine.

Note

There are different methods (.ssh, shared drive, etc.) to conveniently link your Windows machine (running the TASCK Toolchain) and your Linux machine (simulation environment).

Prerequisites

  1. Ubuntu 16.04 machine with ros-kinetic-desktop-full installed and properly configured.
  2. talker_and_listener ROS package previously generated from model.

Set Up catkin_ws

  1. Open a terminal and execute the following commands
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
  1. Download the openmeta_ros_beginner_tutorials ROS package. It contains the talker.py and listener.py nodes.
$ cd src/
$ git clone git@github.com:metamorph-inc/openmeta-ros-beginner-tutorials.git

Add Generated talker_and_listener ROS Package

  1. Copy the previously generated talker_and_listener ROS package into ~/catkin_ws/src.
  2. Build the `catkin_ws.
$ cd ~/catkin_ws/
$ catkin_make

Run Generated ROS Launch File

$ . ~/catkin_ws/devel/setup.bash
$ roslaunch talker_and_listener robot.launch
../../_images/roslaunch_generated_ros_package.png

Congratulations! You have completed the ROS Simple Publisher and Subscriber Tutorial.