rs_flip_flop

RS flip flop

Overview

Both rs_flip_flop and rs_flip_flop.py implement an RS flip flop using NOR gates. They subscribe to the following topics:

• /R
• /S

And publish to the following topics

• /Q
• /Q_not

How To

Run either the C++ executable or the Python script.

# Using Colcon/CMake
# C++
ros2 run drake_ros_examples rs_flip_flop
# Python
ros2 run drake_ros_examples rs_flip_flop.py

# Using bazel
# C++
bazel run //examples/rs_flip_flop:rs_flip_flop
# Python
bazel run //examples/rs_flip_flop:rs_flip_flop_py

Run the following commands in different terminals

# Using Colcon/CMake
ros2 topic echo /Q

# Using bazel
bazel run @ros2//:ros2 topic echo /Q

# Using Colcon/CMake
ros2 topic echo /Q_not
# Using bazel
bazel run @ros2//:ros2 topic echo /Q_not

Run these commands in different terminals to play with the input topics.
The first two commands will cause Q to turn true.

# Using Colcon/CMake
ros2 topic pub /S std_msgs/msg/Bool "data: false"
ros2 topic pub /R std_msgs/msg/Bool "data: true"
# Using bazel
bazel run @ros2//:ros2 topic pub /S std_msgs/msg/Bool "data: false"
bazel run @ros2//:ros2 topic pub /R std_msgs/msg/Bool "data: true"

Run these next two commands to turn Q false again.

# Using Colcon/CMake
ros2 topic pub /R std_msgs/msg/Bool "data: false"
ros2 topic pub /S std_msgs/msg/Bool "data: true"
# Using bazel
bazel run @ros2//:ros2 topic pub /R std_msgs/msg/Bool "data: false"
bazel run @ros2//:ros2 topic pub /S std_msgs/msg/Bool "data: true"

Note: All terminals should have their environment setup appropriately. See drake_ros_examples for an example of how to do so.