5.1.4 Hello World

Prerequisite: TogetheROS.Bot has been successfully installed via deb package or source code.

Open two terminals and ssh login to the RDK device.

Foxy
Humble

In the first terminal, run:

source /opt/tros/setup.bash
ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function

In the second terminal, run:

source /opt/tros/setup.bash
ros2 run examples_rclcpp_minimal_publisher publisher_member_function

Install the package corresponding to the Hello World example:

sudo apt update
sudo apt install ros-humble-examples-rclcpp-minimal-publisher ros-humble-examples-rclcpp-minimal-subscriber

In the first terminal, run:

source /opt/tros/humble/setup.bash
ros2 run examples_rclcpp_minimal_subscriber subscriber_member_function

In the second terminal, run:

source /opt/tros/humble/setup.bash
ros2 run examples_rclcpp_minimal_publisher publisher_member_function

The running effect is shown in the following image:

hello world

As you can see, the left terminal acts as the publisher, continuously sending "Hello, world! N", and the right terminal acts as the subscriber, continuously receiving "Hello, world! N".

OK, tros.b has been successfully installed and verified!