From 1ea08c3b4151a69da77129c8f751aab5ea7c0a56 Mon Sep 17 00:00:00 2001
From: Bob Ding <4655609+bobd988@users.noreply.github.com>
Date: Wed, 28 Feb 2024 18:59:43 -0800
Subject: [PATCH 1/2] Create README.md

---
 examples/c++-ros2-dataflow/README.md | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)
 create mode 100644 examples/c++-ros2-dataflow/README.md

diff --git a/examples/c++-ros2-dataflow/README.md b/examples/c++-ros2-dataflow/README.md
new file mode 100644
index 000000000..32c844a3e
--- /dev/null
+++ b/examples/c++-ros2-dataflow/README.md
@@ -0,0 +1,28 @@
+# `cxx-ros2-dataflow` Example
+
+This c++ example shows how to publish/subscribe to both ROS2 and Dora. The dataflow consists of a single node that sends random movement commands to the [ROS2 `turtlesim_node`](https://docs.ros.org/en/iron/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.html).
+
+## Setup
+
+This examples requires a sourced ROS2 installation.
+
+- To set up ROS2, follow the [ROS2 installation](https://docs.ros.org/en/iron/Installation.html) guide.
+- Don't forget to [source the ROS2 setup files](https://docs.ros.org/en/iron/Tutorials/Beginner-CLI-Tools/Configuring-ROS2-Environment.html#source-the-setup-files)
+- Follow tasks 1 and 2 of the [ROS2 turtlesim tutorial](https://docs.ros.org/en/iron/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.html#id3)
+  - Install the turtlesim package
+  - Start the turtlesim node through `ros2 run turtlesim turtlesim_node`
+
+## Running
+
+
+From terminal 1 , sourcing the ROS2 installation and start ROS2 turtlesim window
+```
+source /opt/ros/galactic/setup.bash
+ros2 run turtlesim turtlesim_node
+```
+
+From terminal 2 from dora folder 
+```
+cargo run --example cxx-ros2-dataflow --features ros2-examples
+```
+And you will see the turtle move a few steps.

From d968ffca3fa5ddb73987c8682b71da367287b786 Mon Sep 17 00:00:00 2001
From: Bob Ding <4655609+bobd988@users.noreply.github.com>
Date: Thu, 29 Feb 2024 08:19:15 -0800
Subject: [PATCH 2/2] Update README.md

---
 examples/c++-ros2-dataflow/README.md | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/examples/c++-ros2-dataflow/README.md b/examples/c++-ros2-dataflow/README.md
index 32c844a3e..ac117fd9e 100644
--- a/examples/c++-ros2-dataflow/README.md
+++ b/examples/c++-ros2-dataflow/README.md
@@ -12,7 +12,7 @@ This examples requires a sourced ROS2 installation.
   - Install the turtlesim package
   - Start the turtlesim node through `ros2 run turtlesim turtlesim_node`
 
-## Running
+## Running turtlesim example
 
 
 From terminal 1 , sourcing the ROS2 installation and start ROS2 turtlesim window
@@ -21,8 +21,9 @@ source /opt/ros/galactic/setup.bash
 ros2 run turtlesim turtlesim_node
 ```
 
-From terminal 2 from dora folder 
+From terminal 2 from dora folder. Note the source command here is necessary as this allow ROS2 message types to be found and compile dynamically.
 ```
+source /opt/ros/galactic/setup.bash
 cargo run --example cxx-ros2-dataflow --features ros2-examples
 ```
 And you will see the turtle move a few steps.