Skip to content

Encapsulate publisher logic in a ROS 2 node #188

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
life1ess wants to merge 2 commits into
base: main
Choose a base branch
from
+237 −169
Open

Encapsulate publisher logic in a ROS 2 node #188

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
b67c46b
Encapsulate publisher logic in a ROS 2 node
life1ess Feb 27, 2026
9a346cb
Apply review and lints
life1ess Feb 27, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 15 additions & 0 deletions examples/teleop_ros2/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,21 @@ docker run --rm --net=host --ipc=host \
teleop_ros2_ref
```

### Overriding parameters

It's possible to set ROS 2 parameters from the command line when running the container. Append `--ros-args -p param_name:=value` after the image name:

```bash
docker run --rm --net=host --ipc=host \
-e XR_RUNTIME_JSON -e NV_CXR_RUNTIME_DIR \
-e ROS_LOCALHOST_ONLY=1 \
-v $CXR_HOST_VOLUME_PATH:$CXR_HOST_VOLUME_PATH:ro \
--name teleop_ros2_ref \
teleop_ros2_ref --ros-args -p frame_id:=odom -p rate_hz:=30.0
```

Available parameters: `hand_topic`, `twist_topic`, `pose_topic`, `controller_topic`, `full_body_topic`, `frame_id`, `rate_hz`, `use_mock_operators`. Use `ros2 param list /teleop_ros2_publisher` and `ros2 param describe /teleop_ros2_publisher <param>` (with the node running) for the full set.

## Echo Topics

```bash
Expand Down
Loading