example demo config

example_config/config/example_config_connections.sdf

@@ -0,0 +1,9 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+
+
+    <yang>
+
+    </yang>
+
+</sdf>

example_config/config/rviz_config.rviz

@@ -0,0 +1,241 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Grid1
+        - /RobotModel1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 771
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 0.10000000149011612
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        camera-0-usb-typec-0-link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_bottom_screw_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        nuc-0-cat6-0-link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        nuc-0-link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        nuc-0-usb30-0-link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        nuc-0-usb30-1-link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        camera-0-usb-typec-0-link:
+          Value: true
+        camera_bottom_screw_frame:
+          Value: true
+        camera_link:
+          Value: true
+        nuc-0-cat6-0-link:
+          Value: true
+        nuc-0-link:
+          Value: true
+        nuc-0-usb30-0-link:
+          Value: true
+        nuc-0-usb30-1-link:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 0.30000001192092896
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        world:
+          camera_bottom_screw_frame:
+            camera_link:
+              camera-0-usb-typec-0-link:
+                {}
+          nuc-0-link:
+            nuc-0-cat6-0-link:
+              {}
+            nuc-0-usb30-0-link:
+              {}
+            nuc-0-usb30-1-link:
+              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 255; 255; 255
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 0.17119820415973663
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.009995394386351109
+        Y: -0.0867873877286911
+        Z: -0.031213223934173584
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3903978765010834
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.113586902618408
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1062
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000038cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000038c000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000038cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000038c000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006190000003efc0100000002fb0000000800540069006d00650100000000000006190000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000003a80000038c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1561
+  X: 160
+  Y: 1057

example_config/example_config/example_config.py

@@ -0,0 +1,6 @@
+def main():
+    print('Hi from example_config.')
+
+
+if __name__ == '__main__':
+    main()

example_config/example_config/publisher_node.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+
+class PublisherNode(Node):
+    def __init__(self):
+        super().__init__('publisher_node')
+        self.declare_parameter('data', 'Default data')
+        self.publisher_ = self.create_publisher(String, '/system_description', 10)
+        self.timer = self.create_timer(1.0, self.timer_callback)  # Timer callback every 1 second
+
+    def timer_callback(self):
+        msg = String()
+        msg.data = self.get_parameter('data').get_parameter_value().string_value
+        self.publisher_.publish(msg)
+        # self.get_logger().info(f'Publishing: "{msg.data}"')
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = PublisherNode()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()