ROS2 Integration with Dora

This example demonstrates how to integrate ROS2 nodes with Dora's dataflow framework.

Prerequisites

• ROS2 installed (tested with ROS2 Jazzy)
• Dora framework installed
• Rust toolchain
• colcon build system

Environment Setup

Set the following environment variables:

# Point to your Dora repository
export DORA=/path/to/dora

# Point to your ROS2 setup script
export ROS=/opt/ros/jazzy/setup.bash

Examples

1. ROS2 Service Integration (Dora as Server)

cargo run --example customed-ros2-dataflow service

Uses dataflow.yml and the add_client ROS package.

2. ROS2 Action Integration (Dora as Client)

cargo run --example customed-ros2-dataflow action

Uses dataflow_action.yml and the fibonacci_action_server ROS package.

Usage

cargo run --example customed-ros2-dataflow [service|action]

• service: Dora acts as a server, terminates after ROS client finishes
• action: Dora acts as a client, terminates the ROS server after completing its work

Files

• main.rs - Example runner
• dataflow.yml - Service example configuration
• dataflow_action.yml - Action example configuration
• dora_nodes/src/dora_server.rs - ROS2 service server implementation
• dora_nodes/src/dora_action_client.rs - ROS2 action client implementation