Tutorial Code - Executor and Spin Explained

This repository contains the code for the tutorial Executor and Spin Explained. Upon extracting the files, you'll find the workspace directory labeled as ros2-spin-explained-XXX, with XXX representing the tag name. For consistency with the tutorial, you may want to rename this directory to ros2-subscriber-demo.

The ros2-spin-explained serves as the root directory of your workspace. To build the workspace, navigate to this directory in your terminal. Once inside the ros2-spin-explained directory, execute the following command to initiate the build process:

rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install

To launch the system, open a new terminal window, go to the workspace directory, and run one of the following commands

. install/setup.bash

# Please refer to the tutorial for more details
ros2 launch bringup spin_once_repeat.launch.py publisher_warmup_time:=10 publication_interval:=1 subscriber_warmup_time:=1 task_running_time:=5
ros2 launch bringup spin_some_repeat.launch.py publisher_warmup_time:=10 publication_interval:=1 subscriber_warmup_time:=1 task_running_time:=5
ros2 launch bringup spin_once_repeat.launch.py publisher_warmup_time:=1 publication_interval:=3 subscriber_warmup_time:=10 task_running_time:=1
ros2 launch bringup spin_some_repeat.launch.py publisher_warmup_time:=1 publication_interval:=3 subscriber_warmup_time:=10 task_running_time:=1
ros2 launch bringup spin_some_repeat.launch.py publisher_warmup_time:=1 publication_interval:=1 subscriber_warmup_time:=10 task_running_time:=3
ros2 launch bringup spin_until_future_complete.launch.py publisher_warmup_time:=1 publication_interval:=2 subscriber_warmup_time:=5 task_running_time:=1