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First micro-ROS app on Linux reviewed. #183

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@FranFin FranFin commented Jul 16, 2020

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First micro-ROS app on Linux reviewed.
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@pablogs9 pablogs9 commented Jul 16, 2020

LGTM
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ralph-lange requested changes Jul 16, 2020
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@ralph-lange ralph-lange left a comment

Thank you for the update!
_docs/tutorials/core/first_application_linux/index.md Outdated
First of all, let's take a Ubuntu 18.04 LTS computer and install **ROS 2 Dashing Diademata**:
First of all, install **ROS 2 Dashing Diademata** on your Ubuntu 18.04 LTS computer.
To do so from binaries, via Debian packages, follow the instructions detailed
[here](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/) instead.

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ralph-lange Jul 16, 2020
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[here](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/) instead.
from the [ROS Index](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/) website.
_docs/tutorials/core/first_application_linux/index.md Outdated
@@ -7,29 +7,22 @@ This tutorial teaches you how to create a first micro-ROS application on Linux f

## Installing ROS 2 and the micro-ROS build system

First of all, let's take a Ubuntu 18.04 LTS computer and install **ROS 2 Dashing Diademata**:
First of all, install **ROS 2 Dashing Diademata** on your Ubuntu 18.04 LTS computer.
To do so from binaries, via Debian packages, follow the instructions detailed

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ralph-lange Jul 16, 2020
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To do so from binaries, via Debian packages, follow the instructions detailed
To do so from binaries, via Debian packages, follow the instructions
_docs/tutorials/core/first_application_linux/index.md
We can then proceed to build the firmware and source the local installation:
```bash
# Build step

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ralph-lange Jul 16, 2020
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# Build step

I propose to remove this comment given the explanation in previous paragraph.
_docs/tutorials/core/first_application_linux/index.md Outdated
First of all, create a micro-ROS agent:
To do that, let's first of all create a micro-ROS agent:
```bash
# Download micro-ROS-Agent packages

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ralph-lange Jul 16, 2020
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# Download micro-ROS-Agent packages

Comment is explained in the previous paragraph already.
_docs/tutorials/core/first_application_linux/index.md Outdated
Now, we want to check that everything is working.
Open another command line. We are going to listen to the `ping` topic
with ROS 2 to check whether the micro-ROS Ping Pong node is correctly publishing the expected pings:
```bash
source /opt/ros/$ROS_DISTRO/setup.bash

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ralph-lange Jul 16, 2020
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source /opt/ros/$ROS_DISTRO/setup.bash
source /opt/ros/dashing/setup.bash

... to be consistent with similar changes above.
_docs/tutorials/core/first_application_linux/index.md Outdated
@@ -187,7 +189,7 @@ source /opt/ros/$ROS_DISTRO/setup.bash
ros2 topic echo /microROS/pong
```
At this point, we know that our app is publishing pings. Let's check if it also answers to someone else pings in a new command line:
And now, let's publish a `fake_ping` with ROS 2 from yet another command line:
```bash
source /opt/ros/$ROS_DISTRO/setup.bash

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ralph-lange Jul 16, 2020
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source /opt/ros/$ROS_DISTRO/setup.bash
source /opt/ros/dashing/setup.bash
_docs/tutorials/core/first_application_linux/index.md Outdated
One of the advantages of having an Linux micro-ROS app is that you don't need to buy a bunch of hardware in order to
test some multi-node micro-ROS apps.
So, with the same micro-ROS agent of the last section, let's open four different command lines and run the following on
each:
```bash
cd microros_ws
source /opt/ros/$ROS_DISTRO/setup.bash

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ralph-lange Jul 16, 2020
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source /opt/ros/$ROS_DISTRO/setup.bash
source /opt/ros/dashing/setup.bash
FranFin added 3 commits Jul 17, 2020
@FranFin
Reworking tutorials common sections.
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@FranFin
Significant changes in core tutori+zephyr_emulator tutorials.
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@FranFin
Changes reviewed.
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@ralph-lange
ralph-lange approved these changes Dec 2, 2020
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@FranFin @pablogs9 @ralph-lange
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