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Merged
merged 1 commit into from
May 2, 2025
Merged

source workspace before 1st demo with RMWs. (backport #5464) #5468

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2 changes: 2 additions & 0 deletions ...ion/RMW-Implementations/DDS-Implementations/Working-with-Eclipse-CycloneDDS.rst
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Expand Up @@ -68,8 +68,10 @@ Now run ``talker`` and ``listener`` to test Cyclone DDS.

.. code-block:: console

$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run demo_nodes_cpp talker

.. code-block:: console

$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run demo_nodes_cpp listener
2 changes: 2 additions & 0 deletions ...RMW-Implementations/DDS-Implementations/Working-with-GurumNetworks-GurumDDS.rst
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Expand Up @@ -80,10 +80,12 @@ Run the ``talker`` and ``listener`` nodes to verify your installation:

.. code-block:: console

$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run demo_nodes_cpp talker

.. code-block:: console

$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run demo_nodes_cpp listener

If the nodes communicate successfully, your installation is working correctly.
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3 changes: 2 additions & 1 deletion ...lation/RMW-Implementations/DDS-Implementations/Working-with-RTI-Connext-DDS.rst
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Expand Up @@ -122,9 +122,10 @@ Now run ``talker`` and ``listener`` to test RTI Connext DDS

.. code-block:: console

$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run demo_nodes_cpp talker

.. code-block:: console

$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run demo_nodes_cpp listener

2 changes: 2 additions & 0 deletions ...tion/RMW-Implementations/DDS-Implementations/Working-with-eProsima-Fast-DDS.rst
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Expand Up @@ -63,8 +63,10 @@ Now run ``talker`` and ``listener`` to test Fast DDS.

.. code-block:: console

$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run demo_nodes_cpp talker

.. code-block:: console

$ source /opt/ros/{DISTRO}/setup.bash
$ ros2 run demo_nodes_cpp listener
3 changes: 3 additions & 0 deletions ...Installation/RMW-Implementations/Non-DDS-Implementations/Working-with-Zenoh.rst
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Expand Up @@ -74,6 +74,7 @@ Start the Zenoh router
.. code-block:: bash

# terminal 1
source /opt/ros/{DISTRO}/setup.bash
ros2 run rmw_zenoh_cpp talker rmw_zenohd

.. note:: Without the Zenoh router, nodes will not be able to discover each other since multicast discovery is disabled by default in the node's session config.
Expand All @@ -83,12 +84,14 @@ Start the Zenoh router

# terminal 2
export RMW_IMPLEMENTATION=rmw_zenoh_cpp
source /opt/ros/{DISTRO}/setup.bash
ros2 run demo_nodes_cpp talker

.. code-block:: bash

# terminal 3
export RMW_IMPLEMENTATION=rmw_zenoh_cpp
source /opt/ros/{DISTRO}/setup.bash
ros2 run demo_nodes_cpp listener

.. note:: Remember to source your ROS 2 setup script before running these commands.
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