- Build the package
$ cd catkin_ws $ catkin_make
- Run the master.
$ roscore
- Run fake odometry data.
$ rosrun fastrtps_ros odom_pub
- Run ROS-DDS node.
$ rosrun fastrtps_ros dds_bridge r2d
- Run DDS-ROS node.
$ rosrun fastrtps_ros dds_bridge d2r
- Check if odom is republished to odom2.
$ rostopic echo odom2
-
Change the IDL file based on the message you want to pub-sub
-
Generate the codes.
$ ./gencodes.sh
-
Build the package.
$ cd catkin_ws $ catkin_make
-
Code!