# ros_comm

#### Description

ROS communications-related packages, including core client libraries (roscpp, rospy) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).

#### Software Architecture

Software architecture description

The ros_comm stack contains the ROS middleware/communications packages. These packages are collectively known as the ROS "Graph" layer. They provide implementations and tools for topics, nodes, services, and parameters. This includes the supported ROS client libraries: roscpp, rospy, and roslisp.

input:
```
ros_comm
├── clients
│   ├── roscpp
│   └── rospy
├── ros_comm
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   └── package.xml
├── test
│   ├── test_rosbag
│   ├── test_rosbag_storage
│   ├── test_roscpp
│   ├── test_rosgraph
│   ├── test_roslaunch
│   ├── test_roslib_comm
│   ├── test_rosmaster
│   ├── test_rosparam
│   ├── test_rospy
│   ├── test_rosservice
│   ├── test_rostest
│   └── test_rostopic
├── tools
│   ├── rosbag
│   ├── rosbag_storage
│   ├── rosgraph
│   ├── roslaunch
│   ├── rosmaster
│   ├── rosmsg
│   ├── rosnode
│   ├── rosout
│   ├── rosparam
│   ├── rosservice
│   ├── rostest
│   ├── rostopic
│   └── topic_tools
└── utilities
    ├── message_filters
    ├── roslz4
    ├── roswtf
    └── xmlrpcpp

```

#### Installation

1.  Download RPM

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-comm/ros-noetic-ros-comm-1.15.11-2.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-comm/ros-noetic-ros-comm-1.15.11-2.oe2203.x86_64.rpm 

2.  Install RPM

aarch64:

sudo rpm -ivh ros-noetic-ros-comm-1.15.11-2.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-comm-1.15.11-2.oe2203.x86_64.rpm --nodeps --force

#### Instructions

Dependence installation

sh /opt/ros/noetic/install_dependence.sh

Exit the following output file under the /opt/ros/noetic/ directory , Prove that the software installation is successful

output:
```
ros_comm/
├── cmake.lock
├── env.sh
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
└── setup.zsh

```

#### Contribution

1.  Fork the repository
2.  Create Feat_xxx branch
3.  Commit your code
4.  Create Pull Request


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