ros2 example interfaces

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rosidl_parser: provides Python API for parsing rosidl files. It also results in less generated code, which reduces compile time and code size. For example, consider the type specific publish function, when using vendor A the function will need to call some of vendor As API, but when using vendor B it will need to call vendor Bs API. Separately, the .msg files are used to generate type support code for each type. line to commit messages to certify that they have the right to submit micro_ros_setup No definition of [python3-vcstool] for OS [osx], Define custom messages in python package (ROS2), Incorrect Security Information - Docker GUI, Launching a simple launchfile on ros2:foxy failed, Passing an array of arrays of doubles from a yaml config file. publish a message. At the end of the command, put the two integers you would like to add. The purpose of the rmw interface is to capture the absolute minimum middleware functionality needed to support ROSs client libraries. This code is also middleware agnostic, because it only contains meta information about the messages. This causes running this controller to claim the joins (ros2 control list_hardware_interfaces). The underlying middleware used for ROS 2 is either a DDS or RTPS implementation, and is responsible for discovery, publish and subscribe mechanics, request-reply mechanics for services, and serialization of message types. In the case of the latter, where type support is done through runtime interpretation of the messages, the message code generated by ROS 2 can be agnostic to the rmw implementation. This is a simular approuch as my ROS1 robot which is using the RobotHW interface and communicates with arduiono: I would appreciate it if you could help me find a working example. In this document we will describe the supported types. Could not load branches. publishing to a topic, is generic to the message type and will make any necessary calls to the middleware specific APIs. Member of rosidl_interfaces_packages group. In order to accomplish this, this generic function needs some meta information about the message type being published, things like a list of field names and types in the order in which they appear in the message type. For a definition of the rmw API, see the API docs: The rosidl API consists of a few message related static functions and types along with a definition of what code should be generated by messages in different languages. Step 1: Create the service (.srv) file, namely ServiceName.srv, inside an "srv" folder. It also makes it easy to see what code is potentially violating the vendor portability by inspecting the packages dependencies to see if one of these ros_to_dds packages are being used. I believe the code is mostly correct (assuming the example linked above works), but haven't tested it yet due to the lack of having a container with both ROS1 & DS. Tutorial on how to try out the examples: The implementation of the client libraries, e.g. I commited my WIP code so u can see an exampled. the ROS client library interface (rcl API). Most important line in this class is: If the joint name = wheel_joint, we map /joint_state/wheel_joint/velocity to "velocity_command_" Please start posting anonymously - your entry will be published after you log in or create a new account. Run ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py. However, we recognize that on occasion it is useful to reach into the implementation and manually adjust settings despite the consequences that might have. I just pulled the dustynv/ros:humble-ros-base-deepstream-l4t-r35.1. Create the mecanumbot_description package with urdf model The rmw API is the interface between the ROS 2 software stack and the underlying middleware implementation. Open a new terminal, and run the client node. The repository contains these packages: rosidl_cmake: provides CMake functions and CMake Modules for generating code from rosidl files, e.g. One of the goals of this abstraction interface is to completely insulate the ROS user space code from the middleware being used, so that changing DDS vendors or even middleware technology has a minimal impact on the users code. You will note that we added the -dependencies command after the package creation command. The above diagram shows the flow from user defined rosidl files to generated user facing code. For example, the PositionJointInterface uses the joint names as resources. Custom controller ros2colcon build . ros2 launch . The type support for a given message might include things like a list of the names and types for each field in the message. GitHub - ros2/examples: Example packages for ROS2 ros2 / examples Public Notifications Fork 234 Star 421 rolling 15 branches 50 tags Code audrow [rolling] Update maintainers - 2022-11-07 ( #352) fee0b7f 23 days ago 519 commits Failed to load latest commit information. example_ros2_interfacesConfig.cmake example_ros2_interfaces- config .cmake. Also, this approach to type support is normally slower than the static type support alternative. Iam getting ready to migrate to ROS2, so I have to get my hw interface class working there. I have been strugling with the same issue and took me few days to figure it out. As i'm working on a mecanum bot, i also created a mecanumbot_controller package, which contains the controller. * Writing a simple service and client C++ This article identifies a subset of the Interface Definition Language (IDL) that can be used to describe interfaces between components. Another way to implement type support is to have generic functions for things like publishing to a topic, rather than generating a version of the function for each message type. syntax of .msg files, .srv files, etc., and contains packages for parsing the files, for providing CMake infrastructure to generate code from the messages, for generating implementation agnostic code (headers and source files), and for establishing the default set of generators. sign in Creating C++ Service in ROS2. Contains message and service definitions used by the examples. A good example of this is the execution model, which rcl does not address at all. Updated my repo, which is now capable to drive the robot using a xbox-one controller connected to the raspberry pi running ros2 with ros2_control & hardware interface. ros2 interface show example_interfaces/msg/Int64 . The API will also implement a way to get the type support structure for the message type, which is used when publishing or subscribing to a topic of that message type. Messages and services mappings moved to one file. ROS 2 C Utilities ( rcutils) is a C API composed of macros, functions, and data structures used throughout the ROS 2 codebase. As workaround i added the mecanumbot_control packages, where the main method is the same as the ros2_control controller_manager main and where i add, configure & start my controllers, Final Have a question about this project? Since the UK is now no longer a member of the EU, you may be charged an . Important on making this package work: Next you need to define the joints used by the hardware in the URDF file (see bottom of my URDF => ros2_control node) Any direction or links to a more in detail explanation, tutorials or working examples would be highly appreciated. Still the hardware is unclaimed. Major refactor of examples and message packages, Contributors: Dirk Thomas, Jackie Kay, Mikael Arguedas, Morgan From these OMG IDL files, vendor specific code is created and then used within the type specific functions which are referenced by the type support for a given type. The internal ROS interfaces are public C APIs that are intended for use by developers who are creating client libraries or adding a new underlying middleware, but are not intended for use by typical ROS users. Instead the client library should provide a language idiomatic solution like pthreads in C, std::thread in C++11, and threading.Thread in Python. DDS-XTypes, or something like it, is required in the underlying middleware in order to support dynamic type support. ros2 interface show turtlesim/srv/Spawn to display the message format required to make the service call: float32 x float32 y float32 . ROS 2 uses a simplified description language, the interface definition language (IDL), to describe these interfaces. Hardware_interface/base_interface.hpp: No such file or directory. By reusing the rcl API, client libraries can be smaller and more consistent with each other. Initializing rclcpp is done using the rclcpp::init () function: #include <rclcpp/rclcpp.hpp> int main(int argc, char ** argv) { rclcpp::init(argc, argv); } This function initializes any global resources needed by the middleware and the client library, as well as doing client . In this context, type support means: meta data or functions that are specific to a given type and that are used by the system to perform particular tasks for the given type. For more information on what exactly is in the rosidl API (static and generated) see this page: ROS 2 C Utilities (rcutils) is a C API composed of macros, functions, and data structures used throughout the ROS 2 codebase. U can call "ros2 control list_controllers" to see there are no active controllers, Next is to get your joint state published, this seems to do the same as the "joint_state_publisher" which is now commented out in my launch files. @RandyD I'm not sure but in my case, the flickering stopped after setting enable_odom_tf to false. rosidl_generator_cpp: provides tools to generate C++ header files (.hpp) for rosidl files. For information on the latest version, please have a look at Humble. ros2colcon build . For instructions on how to try out our examples see the ROS 2 wiki: https://github.com/ros2/ros2/wiki, a community-maintained index of robotics software Sign up for a free GitHub account to open an issue and contact its maintainers and the community. It is very similar to the diagram for static type support, and differs only in how the type support is generated which is represented by the left hand side of the diagram. A tag already exists with the provided branch name. The rcl C implementation is provided by the rcl package in the same repository. The type specific generated code in static type support can be written to be more efficient as it does not need to iterate over the message types meta data to perform things like serialization. Advise to ask questions on ROS answers in issue template. Any contribution that you make to this repository will For a complete definition of the rcl API, see its API documentation: The ROS middleware interface (rmw API) is the minimal set of primitive middleware capabilities needed to build ROS on top. U can call "ros2 control list_hardware_interfaces" to see your hardware and notice all joint are unclaimed For example. Create the mecanumbot_bringup package with launch file for robot_state_publisher & join_state_publisher to be able to visualize the robot model in rviz2. If nothing happens, download GitHub Desktop and try again. 5. When i run the teleopt_twist_keyboard and (more), note: when u use the DiffDriveController, i might notice the model flickering in rviz and saying the tf messages are invalid. Based on that the developed middleware interface is explained. Creative Commons Attribution Share Alike 3.0, Add the plugin xml on the root of the package, Add the "PLUGINLIB_EXPORT_CLASS" in your hardware class, Add the "pluginlib_export_plugin_description_file" in your CMakeList file. Nothing to show {{ refName }} default View all branches. This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. The following diagram layouts the path from user defined rosidl files, e.g. Enable disabling closed-loop PID in JTC when velocity-only interfaces are used. Start an installed launch file ( ros2 launch <package_name> <launch_file>) Close any currently running nodes. Please For example, consider the message std_msgs/String, a user might use this file in C++ with the statement #include , or they might use the statement from std_msgs.msg import String in Python. The rmw API is located in the ros2/rmw repository. The purpose of the rcl implementation is to provide a common implementation for more complex ROS concepts and utilities that may be used by various client libraries, while remaining agnostic to the underlying middleware being used. Doing this automatically adds the dependencies to your package.xml file. rolling. You signed in with another tab or window. There was a problem preparing your codespace, please try again. When I looked at the links above, I saw that it was no longer working and the message I got as an error; You're reading the documentation for an older, but still supported, version of ROS 2. The function to actually do the work, e.g. (. When controllers are getting initialized, they request a number of resources from the hardware interface; these requests get . I also added the controller config file to the description package, Use the hardware class . In addition to the aforementioned packages for parsing and generating headers for the rosidl files, the rosidl repository also contains packages concerned with type support for the message types defined in the files. Although the basic concepts do not change between ROS 1 and ROS 2, many of the commands differ and the underlying architecture is quite different. I have a open question here on the board on how to spawn the controllers trough launch files. All along the way there are some parts of the APIs that are necessarily specific to the message types being exchanged, e.g. When the type support references code to do particular functions for a specific message type, that code sometimes needs to do middleware specific work. For example, consider the Connext DDS implementation, it has a package called rosidl_typesupport_connext_cpp. Providers of different middleware implementations must implement this interface in order to support the entire ROS stack on top. In the diagram above there is also a box labeled ros_to_dds, and the purpose of this box is to represent a category of possible packages which allow the user to access DDS vendor specific objects and settings using the ROS equivalents. Now, that the server is working we can move . rclc, rclcpp, rclpy, etc.) $ ros2 interface show example_interfaces/msg/Int64 # This is an example message of using a primitive datatype, int64. U can call "ros2 control list_hardware_interfaces" to see your hardware and notice all joint are unclaimed U can call "ros2 control list_controllers" to see there are no active controllers Next is to get your joint state published, this seems to do the same as the "joint_state_publisher" which is now commented out in my launch files These generators are responsible for creating the code that the user will include (or import) and use as the in-memory representation of the messages that were defined in the .msg files. Add the hardware interface This approach has the advantage that all generated code is middleware agnostic, which means it can be reused for different middleware implementations, so long as they allow for dynamic type support. ROS2 Jaguar 4x4 base node EStop Need software-defined EStop Subscribe to joystick channel directly; use button on joystick to EStop By default, ROS2 runs all service/topic callbacks on one thread Long-running service blocks joystick callback from running ROS2 Solution is Multi-threaded Executors and callback groups.. Ned is a collaborative and open source 6 axis robot. Get Started with ROS 2. ros2/example_interfaces. ROS 2 examples Tutorial on how to try out the examples: * Writing a simple service and client C++ * Writing a simple service and client Python CONTRIBUTING Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license: 5. (, Add mapping for rospy_tutorials/AddTwoInts.srv. Use Git or checkout with SVN using the web URL. Here is what I see: When you're done, press CTRL + C in all terminal windows to shut everything down. rosidl_generator_java, are hosted externally (in different repositories) but would use the same mechanism that the above generators use to register themselves as a rosidl generator. ROS 2 Coordinate System The Create 3 robot produces a fused odometry that combines its wheel encoders, IMU, and ground optical flow sensor. | privacy. Finally, the implementation of the rmw API is provided by a middleware implementation specific package, e.g. Some parts of the client library are intentionally left out of the rcl API because the language idiomatic method should be used to implement those parts of the system. rmw_fastrtps_cpp, the library of which is compiled against vendor specific DDS interfaces and types. [rolling] Update maintainers - 2022-11-07 (, Writing a simple service and client Python. the code they are contributing to the project according to the Tutorial on how to try out the examples: Learn more. The controller added the joints used by the hardware in the "command_interface_configuration" method. When u launch this, it wont work. rosidl_typesupport_introspection_c and rosidl_typesupport_introspection_cpp. Again, this code, while specific to Connext, is still not exposed to the user because of the abstraction in the type support. rosidl_generator_cpp or rosidl_generator_py. Notice the .py suffix on the launch file, it's just a python script. This is referred to as dynamic type support, as opposed to static type support which requires generated versions of a function for each type. Step 3: Modify package.xml. This package is responsible for generating code to handle do things like publish to a topic for the C++ version of a given message type, using the .idl files generated by the rosidl_dds package to do so. Add section about DCO to CONTRIBUTING.md. Quigley, Rafal Kozik, William Woodall, dhood. rclcpp, to implement their code (executable or library). These are not working The rcl API is located in the ros2/rcl repository on GitHub and contains the interface as C headers. The introspection part of the package name refers to the ability to introspect any message instance with the generated meta data for the message type. Next i removed the "joint_state_publisher" from the bringup package launch files and added ros2_control Type support can either be provided by code that is generated at compile time or it can be done programmatically based on the contents of the rosidl file, e.g. Important part of the controller is that it subscribes to "/cmd_vel". In the case where type support is to be generated at compile time instead of being generated programmatically, a package specific to the rmw implementation will need to be used. https://github.com/ros2/example_interfaces.git, Writing a simple service and client Python, Contributors: Audrow Nash, Ivan Santiago Paunovic, Change links from index.ros.org -> docs.ros.org. The ROS Client Library interface (rcl API) can be used by client libraries (e.g. Use add_compile_options instead of setting only cxx flags. Generators for other languages, e.g. These are mainly used for error handling, commandline argument parsing, and logging which are not specific to the client or middleware layers and can be shared by both. the .msg or .srv file, and the data received, by introspecting the data. (, Remove the action_msgs dependency CMake code. Type support refers to the ability to interpret and manipulate the information represented by ROS message instances of particular types (publishing the messages, for example). Resources are specified in the hardware interface. Also I couldnt find any kind of documentation, is there any? Step 2: Modify CMakeLists.txt. Work fast with our official CLI. Generally the rcl interface provides functions that are not specific to a language pattern and are not specific to a particular message type. The generated message code specified in the API contains things like the message data structure, functions for construction, destruction, etc. So if the velocity changes, the value will be stored in the "velocity_command_" which u can read during the "write" call. .msg files, to the type specific code used by the user and system to perform type specific functions: Figure: flow chart of static type support generation, from rosidl files to user facing code.. Python publisher - node class class TemperatureSensorNode(Node): def __init__(self): super().__init__("temperature_sensor") As we use OOP in ROS2, we first create a class which inherits from the Node class. This is the fundamental capability that allows for generic implementations of functions like publish to a topic. This implementation avoids direct contact with the middleware by instead using the rmw and rosidl APIs. containing one of the above files. ros2 run cpp_srvcli server. Branches Tags. Currently all of the middleware implementations are for different DDS vendors. Run "ros2 run teleop_twist_keyboard teleop_twist_keyboard" to publish those messages * Writing a simple service and client Python, Failed to get question list, you can ticket an issue here, For instructions on how to try out our examples see the ROS 2 wiki: https://github.com/ros2/ros2/wiki, a community-maintained index of robotics software It will outline the targeted use cases as well as their requirements and constraints. (. ros2 pkg create --build-type ament_python py_srvcli --dependencies rclpy example_interfaces Your package named py_srvcli has now been created. Then to publish a message, you call a generic publish function and pass a message to be published along with a structure which contains the necessary meta data about the message type. Step 4: Write your service_server node in the "src" folder inside the package. Create the mecanumbot_hardware package and implement a "hardware_interface::SystemInterface" class. This description makes it easy for ROS tools to automatically generate source code for the interface type in several target languages. https://github.com/DeborggraeveR/ampru, I don't have a tutorial yet, but here is a quick summary of what i done so far, Visualize the robot Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. Developer Certificate of Origin (DCO). This is useful in cases where only velocity output should be used but closed-loop PID should not be used. This is because typically a particular rmw implementation will require data to be stored and manipulated in a manner that is specific to the DDS vendor in order for the DDS implementation to make use of it. by "example_ros2_interfaces", but CMake did not find one. Are you sure you want to create this branch? It exposes this coordinate system both through the tf tree and the /odom publication. Assuming that the server is called "add_two_ints" I managed to pass one argument to the service call in the following way $ ros2 service call /add_two_ints example_interfaces/AddTwoInts "a: '1'" requester: making request: example_interfaces.srv.AddTwoInts_Request(a=1, b=0) How to pass also the second argument ? These statements work because of the files generated by these language specific (but middleware agnostic) generator packages. The first thing we do is to call super () and pass the name of the node. Restore contrib, license, and readme after moving. * Writing a simple service and client C++ MATLAB support for ROS 2 is a library of functions that allows you to exchange data with ROS 2 enabled physical robots or robot simulators . This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository. I had a look at github ros2_controls and it seems to be very different. ROS interfaces used in examples. | privacy, https://github.com/ros2/example_interfaces.git, Writing a simple service and client Python. I tried with running "ros2 control load_start_controller diffbot_base_controller" to launch the DiffDriveController. The rmw package contains the C headers which define the interface, the implementation of which is provided by the various packages of rmw implementations for different DDS vendors. These are mainly used for error handling, commandline argument parsing, and logging which are not specific to the client or middleware layers and can be shared by both. By requiring the use of one of these packages in order to access the underlying DDS vendors objects, we can avoid exposing vendor specific symbols and headers in the normal interface. However, dynamic type support requires that the underlying middleware support a similar form of dynamic type support. Again, tab completion should be able to help here. # If you want to test with this that's fine, but if you are deploying # it into a system you should create a semantically meaningful message type. Modify Package.xml license: Contributors must sign-off each commit by adding a Signed-off-by: Sample commands are based on the ROS 2 Foxy distribution. ROS 2 middleware interface This article describes the rationale for using an abstract middleware interface between ROS and a specific middleware implementation. container and attempted to run an example from the ros2_deepstream repo. Figure: flow chart of dynamic type support generation, from rosidl files to user facing code.. ROS 2 examples Tutorial on how to try out the examples: * Writing a simple service and client C++ * Writing a simple service and client Python CHANGELOG Changelog for package example_interfaces 0.9.3 (2022-04-06) Update maintainers to Mabel Zhang ( #15) Add changelog ( #14) Contributors: Audrow Nash, Ivan Santiago Paunovic 0.9.2 (2021-04-06) ros2 service list ros2 service call /add_floats my_services/Add.srv "{a: 2, b: 3}" The second command calls the server and gives you the result i.e. Nothing to show If nothing happens, download Xcode and try again. For a complete definition of the rcutils API, see its API documentation, Figure: flow chart of static type support generation, from, Figure: flow chart of dynamic type support generation, from, ROS 2 Iron Irwini (codename iron; May, 2023), Writing a simple publisher and subscriber (C++), Writing a simple publisher and subscriber (Python), Writing a simple service and client (C++), Writing a simple service and client (Python), Writing an action server and client (C++), Writing an action server and client (Python), Composing multiple nodes in a single process, Integrating launch files into ROS 2 packages, Running Tests in ROS 2 from the Command Line, Building a visual robot model from scratch, Using Fast DDS Discovery Server as discovery protocol [community-contributed], Setting up a robot simulation (Ignition Gazebo), Using quality-of-service settings for lossy networks, Setting up efficient intra-process communication, Packaging your ROS 2 application as a snap [community-contributed], Deploying on IBM Cloud Kubernetes [community-contributed], Building a real-time Linux kernel [community-contributed], Migrating launch files from ROS 1 to ROS 2, Using Python, XML, and YAML for ROS 2 Launch Files, Using ROS 2 launch to launch composable nodes, Migrating YAML parameter files from ROS 1 to ROS 2, Passing ROS arguments to nodes via the command-line, Synchronous vs. asynchronous service clients, Working with multiple ROS 2 middleware implementations, Running ROS 2 nodes in Docker [community-contributed], Visualizing ROS 2 data with Foxglove Studio, Building ROS 2 with tracing instrumentation, On the mixing of ament and catkin (catment), ROS 2 Technical Steering Committee Charter. rosidl_typesupport_introspection_cpp: provides tools for generating C++ code for supporting rosidl message data types. The rcutils API and implementation are located in the ros2/rcutils repository on GitHub which contains the interface as C headers. Submission of Contributions. Authors: Dirk Thomas The PX4-FastRTPS Bridge adds a Real Time Publish Subscribe (RTPS) interface to PX4, enabling the exchange of uORB messages between PX4 components and (offboard) Fast RTPS applications (including those built using the ROS2/ROS frameworks).. RTPS is the underlying protocol of the Object Management Group's (OMG) Data Distribution Service (DDS) standard. Msg, Srv, etc. Subject to Import Tax Please be aware that these items are sent out from our office in the UK. Switch branches/tags. # If you want to embed it in another message, use the primitive data type instead. Could not load tags. This causes the variable mapped in the hardware to be updated. publishing a message or subscribing to a topic, and therefore require generated code for each message type. Supported subset of IDL ROS 2 supports a subset of the OMG IDL 4.2 specification . Go back to the service node terminal. Auto launch controllers This vendor specific code is still hidden from the user through the type support abstraction, which is similar to how the Private Implementation (or Pimpl) pattern works. .github launch_testing/ launch_testing_examples rclcpp rclpy .gitignore In the case of DDS the DDS-XTypes standard allows for publishing of messages using meta information rather than generated code. See the Type Specific Interfaces section above for more details. As the diagram shows, these APIs are stacked such that the typical ROS user will use the client library API, e.g. If "example_ros2_interfaces" provides a. separate development package or SDK, be sure it has been installed. The packages that provide this type support through introspection of the data are: rosidl_typesupport_introspection_c: provides tools for generating C code for supporting rosidl message data types. .msg files, .srv files, etc. Before using rclcpp it must be initialized exactly once per process. The right hand side of the diagram shows how the .msg files are passed directly to language specific code generators, e.g. rosidl_generator_py: provides tools to generate Python modules for rosidl files. The ROS client libraries provide the user facing APIs that most ROS users are familiar with, and may come in a variety of programming languages. In dynamic type support the .msg files are converted directly into user facing code. During the update of the controller i set the velocity as value of the "hardware_interface::LoanedCommandInterface" To allow for middleware vendor specific code, the user defined .msg files may result in the generation of vendor specific code. . The rcl API is a slightly higher level API which is used to implement the client libraries and does not touch the middleware implementation directly, but rather does so through the ROS middleware interface (rmw API) abstraction. in order to avoid duplicating logic and features. Note that rather than dds vendor specific packages providing the type support code, which is the case in static type support, this method has middleware agnostic package for each language, e.g. be under the Apache 2 License, as dictated by that Not sure if this is a bug or if i did something wrong, but with my custom controller i dont have this issue, @Dragonslayer ROS2 ros2_control/hardware_interface/ - working example? The above diagram shows this on the left hand side, where the .msg files are consumed by the rosidl_dds package to produce .idl files, and then those .idl files are given to language specific and DDS vendor specific type support generation packages. The rosidl repository, located on GitHub at ros2/rosidl, defines the message IDL syntax, i.e. The generated message code specified in the API will be language specific, but may or may not reuse generated code for other languages. There are several repositories that play a role in the rosidl API and implementation. to use Codespaces. Further it describes how the interfaces are used to generate code in C, C++ and Python. rosidl_default_generators: defines the list of default generators which ensures that they are installed as dependencies, but other injected generators can also be used. Use CMAKE_X_STANDARD and check compiler rather than platform. rosidl_generator_c: provides tools to generate C header files (.h) for rosidl files. * Writing a simple service and client Python. It might also contain a reference to code that can perform particular tasks for that type, e.g. For middleware vendors based on DDS, and specifically those which generate code based on the OMG IDL files (.idl files), the user defined rosidl files (.msg files) are converted into equivalent OMG IDL files (.idl files). rclcpp, use the rcl interface which provides access to the ROS graph and graph events. You can of course implement your own hardware interface, and define your own resources. The rcl implementation in turn uses the rmw API to access the ROS graph. Robot Operating System 2 (ROS 2) is the second version of ROS, which is a communication interface that enables different parts of a robot system to discover, send, and receive data. ros2 run cpp_srvcli client 5 3. RTPS/ROS2 Interface: PX4-FastRTPS Bridge. 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