Link ROS发布：云主题可视化和日志记录支持ROS1Melodic和ROS2Dashing 译

# Launch your own nodes and the Agent will automatically
# start a node (link_ros) that listens to what is published.
# Make sure to source your ROS workspace before launching. 

ros2 launch my_package my_launch.launch

# Not many good quality ROS2 bags exist yet - here we show a
# workaround with a ROS1 bag run in ROS2

# Make sure you have installed ros2 bag packages
apt-get update
sudo apt-get install ros-dashing-ros2bag-* ros-dashing-rosbag2*

# Source ROS1 workspace first
source /opt/ros/melodic/setup.bash

# Now source ROS2 workspace
source /opt/ros/dashing/setup.bash

# Download a ROS bag to play, saving it as rosbag-example.bag
curl -L -o rosbag-example.bag https://bit.ly/freedom-rosbag-example-car

# Play the ROS bag and the Agent will listen to the topics it publishes
ros2 bag play -s rosbag_v2 rosbag-example.bag

#!/usr/bin/env python

# Please note that there are no references to Freedom in this ROS node.
# The ROS Shadow node will automatically interact with this node and 
# stream the data.

import time
import rclpy
import rclpy.logging
from std_msgs.msg import String
from sensor_msgs.msg import NavSatFix

logger = rclpy.logging.get_logger('node_logger')

# Create a callback to handle this topic
def callback(data):
    logger.info("I heard {}".format(data.data))
    if data.data == "mission":
        logger.info("Running mission...")
    elif data.data == "shutdown":
        logger.info("Received shutdown command")
        rclpy.shutdown()
        
# There is nothing you need to do. The ROS Shadow node        
# will automatically start when this starts
if __name__ == '__main__':
    rclpy.init()

    node = rclpy.create_node('node_name')

    subscription = node.create_subscription(String, 'commands', callback, 10)

    # Create our satellite GPS location topic
    pub_nav = node.create_publisher(NavSatFix, 'location', 10)
    nav_msg = NavSatFix(latitude=37.778454, longitude=-122.389171)

    rclpy.spin(node)

    while rclpy.ok():
        pub_nav.publish(nav_msg)
        time.sleep(1)

    # Destroy the node explicitly
    # (optional - otherwise it will be done automatically
    # when the garbage collector destroys the node object)
    node.destroy_node()
    rclpy.shutdown()

# Source ROS2 workspace
source /opt/ros/dashing/setup.bash

# Execute created script with python3 (mandatory for ROS2)
python3 demo_node.py

TOKEN="MY_TOKEN"
SECRET="MY_SECRET"
ACCOUNT="MY_ACCOUNT"
DEVICE="MY_DEVICE"
HEADERS="-H content-type:application/json -H mc_token:$TOKEN -H mc_secret:$SECRET"
DATA="[{
    \"platform\": \"ros\", 
    \"utc_time\": `date +%s`,
    \"topic\": \"/commands\",
    \"type\": \"std_msgs/msg/String\",
    \"expiration_secs\": 10,
    \"message\": {\"data\":\"mission\"}
}]"

curl -v $HEADERS -d "$DATA" -X PUT "https://api.freedomrobotics.ai/accounts/$ACCOUNT/devices/$DEVICE/commands"