POC to see how ROS2 (Galactic) operates when huge number of publisher and subscriber are introduced to Foxy
Fetch down to ROS2 workspace src directory and build: colcon build --event-handlers console_direct+ (as verbose)
Manual node starting:
start listener: ros2 run multinodes mylistener
starte talker: ros2 run multinodes mytalker
Script based node starting (Ubuntu):
execute startnodes.sh
script adds tabbed new terminals to current terminal for defined nodes(publisher and suscribers)
OR
Use Python launcher: ros2 launch multinodes launcher.py
Server Client example from ROS2 pages:
Execute server(own shell): ros2 run multinodes adder_server
Excute client with one "query"(own shell):ros2 run multinodes adder_client 4 5
(Client should reply with sum of parameters, calculated by server)
Parameter example from ROS2 pages:
Execute parameter node(own shell): ros2 run multinodes parameter
Give parameter to node (own shell): ros2 param set /parameter my_parameter PARAMETER
Node code replicated intentionally. ..