ROS2数据流

准备相关依赖

由于例子与turtlesim和AddTwoInts相关

$ sudo apt install ros-jazzy-turtlesim ros-jazzy-examples-rclcpp-minimal-service

准备Python环境

$ uv venv -p 3.10 --seed
$ uv pip install -e ../../apis/node

启动

启动turtlesim

$ source /opt/ros/jazzy/setup.bash
$ ros2 run turtlesim turtlesim_node

启动AddTwoInts服务

$ source /opt/ros/jazzy/setup.bash
$ ros2 run examples_rclcpp_minimal_service service_main

$ source /opt/ros/jazzy/setup.bash
$ dora run dataflow.yml --uv