How to test with ROS2

Docs: https://github.com/bondada-a/erobs/blob/humble-experimental/docs/Container_documentation.md

Env vars

NOTE: This is optional, was not needed when we were testing on Linux.

export ROS_DOMAIN_ID=0

Docker setup

Start the server:

podman run --arch=amd64 -it --rm --network host --ipc=host --pid=host ghcr.io/bondada-a/beambot_img:latest bash

Inside the podman container:

source /root/ws/erobs/install/setup.bash && ros2 launch beambot beambot_bringup.launch.py use_fake_hardware:=true enable_vision:=false

Client side on the server image:

ros2 action send_goal /beambot_execution beambot_interfaces/action/MTCExecution "{full_json: '$(cat /root/ws/erobs/src/cms/tasks/beamtime/spincoat_to_hotplate.json)'}"

Conda/pixi setup

pixi run ros2 topic list
pixi run ros2 node list