Configure Environment

Add the following to your ~/.bashrc:

# ROS2 setup
source /opt/ros/${ROS_DISTRO}/setup.bash
source ~/wmx_ros2_ws/install/setup.bash

# ROS2 domain ID (must match across all machines)
export ROS_DOMAIN_ID=70

# Use CycloneDDS middleware
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

Apply the changes:

source ~/.bashrc

Verify Installation

ros2 pkg list | grep wmx

Expected:

wmx_ros2_message
wmx_ros2_package

ros2 pkg executables wmx_ros2_package

Expected:

wmx_ros2_package diff_drive_controller
wmx_ros2_package follow_joint_trajectory_server
wmx_ros2_package manipulator_state
wmx_ros2_package wmx_core_motion_node
wmx_ros2_package wmx_engine_node
wmx_ros2_package wmx_ethercat_node
wmx_ros2_package wmx_io_node