In part 2 of our developer guide series, we saw in fine detail how to create a single snap for a complete robot stack, including things like controllers, sensor drivers, but also functionalities such as autonomous navigation.
While part 3 of our series focused on the snap store and the snap release process, this developer guide, part 4, draws from the example shown in part 2 to exemplify one specific feature of snaps, content sharing. We will therefore revisit the entire example in order to make use of this feature – after introducing it, of course.
This guide is meant for ROS snap beginners and advanced users looking for insights and guidelines on implementing ROS snap content sharing. This is not a quick tutorial, but rather an in-depth guide. Furthermore, these steps assume that you have completed part 2 of this series.
This guide is organised as follows:
• Packaging complex robotics software with multiple snaps
- Introduction and reasons behind the content sharing approach
- Requirements and setup
• Identification of robot components
- Learn how to separate a monolithic snap in multiple apps
- BringUp snap with the robot core drivers
- Teleoperation snap of for manual robot movements
- Mapping and Navigation snap for advanced autonomous robot movements
• Using content sharing
- See how you can enable content sharing in your snap
- Compare the differences before and after content sharing