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# ros_comm
#### Description
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ROS communications-related packages, including core client libraries (roscpp, rospy) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).
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#### Software Architecture
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Software architecture description
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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.
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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
```
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#### Installation
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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
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2. Install RPM
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aarch64:
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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
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#### Instructions
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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
```
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#### Contribution
1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request
#### Gitee Feature
1. You can use Readme\_XXX.md to support different languages, such as Readme\_en.md, Readme\_zh.md
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