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The Heex Agent also support ROS2 implementations, but please be aware of the following:
  • The services (or background processes) do not have access to the sourcing of your ROS installation (ie: setup.bash).
  • To address this issue, we have provided you with several options:

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Using the additionalAgentContent/agentSetupHeader.sh mentionned in the previous page:

  • If you have a ‘classic’ ROS2 installation (ie: only one ROS2 distribution is installed on your system, and it is located in /opt/ros/<YOUR_DISTRIBUTION>/), you can simply keep the default agentSetupHeader.sh which has the DISABLE_AUTOMATIC_ROS_INSTALL_SEARCH variable set to 0. This means that before any ROS2 implementation installation, we will go and look for a setup.bash file inside any folder located in /opt/ros/ and source it before launching the implementation.
  • If you have a custom installation of ROS2 that is not located in /opt/ros, or you have several ROS2 distributions installed that are located in /opt/ros, you should set the DISABLE_AUTOMATIC_ROS_INSTALL_SEARCH to 1 so that we do not automatically search for your ROS2 installation, and instead you should point to your ROS2’s setup.bash file inside the FILES_TO_SOURCE_IN_HEEX_AGENT_ENV list, that way it shall be sourced before any of your implementation installation. As mentionned in the previous page, keep in mind that if the order of sourcing is important, the sourcing of each file in the FILES_TO_SOURCE_IN_HEEX_AGENT_ENV list is done by order of declaration.
  • Note that you can also include specific environment variables (like for example a ROS_DOMAIN_ID) by adding their key:value into the VARIABLES_TO_EXPORT_IN_HEEX_AGENT_ENV variable. This applies to non-ROS variables as well.

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Using the /opt/heex/defaultAgentSourcing.sh mentionned in the previous page:

  • If you need to add configuration to your system but have no access to the installer (i.e: you use the No-Code RDA functionnality), you may source the installation path to your ROS2 env, any Custom Topic definition and any environment variables inside the /opt/heex/defaultAgentSourcing.sh file.