******************************************************
* Usage: To set ROS env to be auto-loaded, please    *
*        assign ros_option in ros_menu/config.yaml   *
******************************************************
0) Do nothing
1) ROS 1 noetic
2) ROS 2 foxy
3) ROS2/ROS1_bridge
**Please choose an opt**ion: 2
------------------------------------------------------
* ROS_DOMAIN_ID = 30
------------------------------------------------------

sudo apt-get install ros-noetic-husky-desktop -y
sudo apt-get install ros-noetic-husky-simulator -y
sudo apt-get install ros-noetic-husky-gazebo -y

# 새로운 터미널을 실행시킨 뒤 1번을 선택하여 ROS 1 noetic 터미널로 전환합니다.
0) Do nothing
1) ROS 1 noetic
2) ROS 2 foxy
3) ROS 2 galactic
4) ROS2/ROS1_bridge
h) Help
Please choose an option: 1
# 동일 터미널에서 아래 명령어를 입력합니다.
roslaunch husky_gazebo empty_world.launch

# 두번째 터미널도 ROS 1 noetic 터미널로 전환합니다.
$ rostopic list

# Terminal 2
$ rostopic list
/clock
/cmd_vel
/diagnostics
/e_stop
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
...

******************************************************
* Usage: To set ROS env to be auto-loaded, please    *
*        assign ros_option in ros_menu/config.yaml   *
******************************************************
0) Do nothing
1) ROS 1 noetic
2) ROS 2 foxy
3) ROS2/ROS1_bridge
Please choose an option: 3
------------------------------------------------------
* ROS_IP=172.24.55.124
* ROS_MASTER_URI 172.24.55.124
------------------------------------------------------
* ROS_DOMAIN_ID = 30
------------------------------------------------------
ROS_DISTRO was set to 'noetic' before. Please make sure that the environment does not mix paths from different distributions.
source /home/kimsooyoung/.ros_menu/plugins_bashrc/dds_bashrc 1
Source Eclipse Cyclone DDS successfully!
[ERROR] [1682250552.661762864]: [registerPublisher] Failed to contact master at [172.24.55.124:11311].  Retrying...

# Terminal 1 => ROS 1 noetic 선택 후
roslaunch husky_gazebo empty_world.launch

# Terminal 2 - ros bridge 선택
Created 2 to 1 bridge for service /ekf_localization/enable
Created 2 to 1 bridge for service /gazebo/clear_body_wrenches
Created 2 to 1 bridge for service /gazebo/clear_joint_forces
...

# Terminal 3 - ROS 2 Foxy 선택 후 cmd_vel control
ros2 run teleop_twist_keyboard teleop_twist_keyboard

***************  Startup Menu for ROS  ***************
* Usage: To set ROS env to be auto-loaded, please    *
*        assign ros_option in ros_menu/config.yaml   *
******************************************************
0) Do nothing
1) ROS 1 noetic
2) ROS 2 foxy
3) ROS2/ROS1_bridge
Please choose an option: 2
------------------------------------------------------
* ROS_DOMAIN_ID = 30
------------------------------------------------------

from rclpy.qos import qos_profile_sensor_data

self.string_publisher = self.create_publisher(String, 'qos_test_topic', qos_profile_sensor_data)

from rclpy.qos import QoSDurabilityPolicy
from rclpy.qos import QoSHistoryPolicy
from rclpy.qos import QoSProfile
from rclpy.qos import QoSReliabilityPolicy

my_profile = QoSProfile(
    reliability=QoSReliabilityPolicy.BEST_EFFORT,
    history=QoSHistoryPolicy.KEEP_LAST,
    depth=10,
    durability=QoSDurabilityPolicy.VOLATILE
)

self.string_publisher = self.create_publisher(String, 'qos_test_topic', my_profile)

# Terminal 1 - publisher
$ ros2 run py_topic_tutorial qos_example_publisher

# Terminal 2 - subscriber
$ ros2 run py_topic_tutorial qos_example_subscriber

# Terminal 3 - topic info
$ ros2 topic info /qos_test_topic --verbose
Type: std_msgs/msg/String

Publisher count: 1

Node name: twist_pub_node
Node namespace: /
Topic type: std_msgs/msg/String
Endpoint type: PUBLISHER
GID: 60.77.10.01.f3.67.78.3d.6b.0c.cc.7b.00.00.14.03.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
  Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

Subscription count: 1

Node name: string_sub_node
Node namespace: /
Topic type: std_msgs/msg/String
Endpoint type: SUBSCRIPTION
GID: d2.03.10.01.d5.6b.69.e0.be.3f.b5.a2.00.00.14.04.00.00.00.00.00.00.00.00
QoS profile:
  Reliability: RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
  Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE
  Lifespan: 9223372036854775807 nanoseconds
  Deadline: 9223372036854775807 nanoseconds
  Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
  Liveliness lease duration: 9223372036854775807 nanoseconds

# qos_example_publisher.py
my_profile = QoSProfile(
    reliability=QoSReliabilityPolicy.BEST_EFFORT,
    history=QoSHistoryPolicy.KEEP_LAST,
    depth=10,
    durability=QoSDurabilityPolicy.VOLATILE
)
...
self.string_publisher = self.create_publisher(String, 'qos_test_topic', qos_profile_sensor_data)

# qos_example_subscriber.py
my_profile = QoSProfile(
    reliability=QoSReliabilityPolicy.RELIABLE,
    history=QoSHistoryPolicy.KEEP_LAST,
    depth=10,
    durability=QoSDurabilityPolicy.VOLATILE
)
...
self.pose_subscriber = self.create_subscription(
    String, 'qos_test_topic', self.sub_callback, my_profile
)

$ ros2 run py_topic_tutorial qos_example_publisher
[WARN] [1673945160.449603592] [twist_pub_node]: New subscription discovered on this topic, requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY
$ ros2 run py_topic_tutorial qos_example_subscriber
[WARN] [1673945160.455319911] [string_sub_node]: New publisher discovered on this topic, offering incompatible QoS. No messages will be received from it. Last incompatible policy: RELIABILITY_QOS_POLICY

rclcpp::SensorDataQoS qos;
twist_sub_ = this->create_subscription<geometry_msgs::msg::Twist>(input, qos, callback);

odom_sub_ = node->create_subscription<nav_msgs::msg::Odometry>(
  odom_topic, rclcpp::SystemDefaultsQoS(), obom_callback
);

// Pattern 1
rclcpp::QoS map_qos(10);
if (map_subscribe_transient_local_) {
  map_qos.transient_local();
  map_qos.reliable();
  map_qos.keep_last(1);
}

// Pattern 2
auto custom_qos = rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable();
costmap_pub_ = node->create_publisher<nav_msgs::msg::OccupancyGrid>(topic_name, custom_qos);

// Pattern 3
filter_info_sub_ = node->create_subscription<nav2_msgs::msg::CostmapFilterInfo>(
    filter_info_topic_, rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable(),
    std::bind(&BinaryFilter::filterInfoCallback, this, std::placeholders::_1));

{
  "package_name": "custom_interfaces",
  "output_dir": "/home/kimsooyoung/ros2_ws/build/custom_interfaces/rosidl_generator_py/custom_interfaces",
  "template_dir": "/opt/ros/foxy/share/rosidl_generator_py/cmake/../resource",
  "idl_tuples": [
    "/home/kimsooyoung/ros2_ws/build/custom_interfaces/rosidl_adapter/custom_interfaces:action/Parking.idl",
    "/home/kimsooyoung/ros2_ws/build/custom_interfaces/rosidl_adapter/custom_interfaces:srv/CircleTurtle.idl",
    "/home/kimsooyoung/ros2_ws/build/custom_interfaces/rosidl_adapter/custom_interfaces:srv/TurtleJail.idl"
  ],
  "ros_interface_dependencies": [
    "action_msgs:/opt/ros/foxy/share/action_msgs/msg/GoalInfo.idl",
    "action_msgs:/opt/ros/foxy/share/action_msgs/msg/GoalStatus.idl",
    "action_msgs:/opt/ros/foxy/share/action_msgs/msg/GoalStatusArray.idl",
    "action_msgs:/opt/ros/foxy/share/action_msgs/srv/CancelGoal.idl",
    "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Duration.idl",
    "builtin_interfaces:/opt/ros/foxy/share/builtin_interfaces/msg/Time.idl",
    "unique_identifier_msgs:/opt/ros/foxy/share/unique_identifier_msgs/msg/UUID.idl"
  ],
...

// generated from rosidl_adapter/resource/action.idl.em
// with input from custom_interfaces/action/Parking.action
// generated code does not contain a copyright notice

module custom_interfaces {
  module action {
    @verbatim (language="comment", text=
      "goal definition")
    struct Parking_Goal {
      boolean start_flag;
    };
    struct Parking_Result {
      @verbatim (language="comment", text=
        "result definition")
      string message;
    };
    struct Parking_Feedback {
      @verbatim (language="comment", text=
        "feedback definition")
      float distance;
    };
  };
};

# Ternimal 1
ros2 topic pub -r 1 /string_topic std_msgs/String "{data: \"Hello from my 2ND domain\"}"
# Terminal 2
ROS_DOMAIN_ID=1 ros2 topic list
# Terminal 3
ros2 topic list

$ ros2 topic list
/parameter_events
/rosout
/string_topic

export ROS_DOMAIN_ID=<your_domain_id>

or

# edit ~/ros_menu/config.yaml
Config:
  menu_enable: true
  ros_option: menu
  default_ros_domain_id: 30
Menu:
  ...
  ROS 2 foxy:
    option_num: 2
    ROS_version: 2
    distro_name: foxy
    ros2_path: /opt/ros/foxy
    domain_id: # set if you don't want to use default domain id
    cmds:

ros2 pkg create --build-type ament_cmake ament_general

#ifndef AMENT_GENERAL__MY_NODE_HPP_
#define AMENT_GENERAL__MY_NODE_HPP_

#include "rclcpp/rclcpp.hpp"

using namespace std::chrono_literals;

class MyNode: public rclcpp::Node {
private:
  size_t count;
  rclcpp::TimerBase::SharedPtr timer;

public:
  MyNode();
  void timer_callback();
};

#endif

#include "ament_general/my_node.hpp"

MyNode::MyNode() : Node("example_node") {
  timer = this->create_wall_timer(
    200ms, std::bind(&MyNode::timer_callback, this)
  );
}

void MyNode::timer_callback() {
  RCLCPP_INFO(this->get_logger(), "==== Hello ROS 2 : %d ====", count);
  count++;
}

#include "ament_general/my_node.hpp"

int main(int argc, char **argv) {
  rclcpp::init(argc, argv);

  auto node = std::make_shared<MyNode>();
  rclcpp::spin(node);

  rclcpp::shutdown();
  return 0;
}

include_directories(include)

add_executable(my_node src/main.cpp src/my_node.cpp)
ament_target_dependencies(my_node rclcpp)

install(
  TARGETS
    my_node
  DESTINATION
    lib/${PROJECT_NAME}
)

# package build
cbp ament_general && source install/local_setup.bash

# package run
ros2 run ament_general my_node
[INFO] [1682942433.465392502] [example_node]: ==== Hello ROS 2 : 0 ====
[INFO] [1682942433.665303331] [example_node]: ==== Hello ROS 2 : 1 ====
[INFO] [1682942433.865330372] [example_node]: ==== Hello ROS 2 : 2 ====
...

#!/usr/bin/env python3

import rclpy
from rclpy.node import Node
from ament_general.helper import *

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>ament_general</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="tge1375@naver.com">kimsooyoung</maintainer>
  <license>TODO: License declaration</license>

  <!-- python part -->
  <buildtool_depend>ament_cmake_python</buildtool_depend>
  <depend>rclpy</depend>
  <!-- python part -->
  ...

###### Python Part #####
# Install Python modules
ament_python_install_package(${PROJECT_NAME})
# Install Python executables
install(PROGRAMS
  ament_general/my_py_node.py
  DESTINATION lib/${PROJECT_NAME}
)

chmod +x my_py_node.py

cbp ament_general && source install/local_setup.bash
ros2 run ament_general my_py_node.py