ROS2_learning

ROS2 C++ PYTHON learning

A useful collection of rclcpp and rclpy examples to dive into ROS2

This repository has the goal to help the learning process of ROS2 basic, middle and advance features through a collection of example nodes ready to compile and use. All the nodes have been tested with ROS2 HUMBLE

Folders tree

CPP

All the subfolders cover a specific feature and include their own CMakeLists.txt and package.xml files, so you can copy and paste the single subfolder unit and put it into your ROS2 workspace to compile them

• 01 Start with simple nodes
  • my_first_node.cpp
  • node_with_class.cpp
  • node_timer_without_class.cpp
  • node_timer_with_class.cpp
• 02 Publisher and subscriber
  • simple_publisher_node.cpp
  • simple_subscriber_node.cpp
  • simple_publisher_class_node.cpp
  • simple_subscriber_class_node.cpp
  • sub_pub_pipeline.cpp
  • publish_custom_message.cpp
  • msg/EmployeeSalary.msg
• 03 Custom msg and srv
  • srv/CapitalFullName.srv
• 04 Service and client
  • service_node.cpp
  • service_node_class.cpp
  • client_node.cpp
  • client_node_class.cpp
• 05 Parameters
  • set_parameters.cpp
• 06 Plugins
  • vehicle_base/include/vehicle_base/regular_vehicle.hpp
  • vechicle_base/src/create_vehicle.cpp
  • vehicle_plugins/src/vehicle_plugins.cpp
  • vehicle_plugins/plugins.xml
• 07 Actions
  • action_tutorial/src/simple_action_client.cpp
  • action_tutorial/src/class_action_client.cpp
  • action_tutorial/src/simple_action_server.cpp
  • action_tutorial/src/class_action_server.cpp
  • custom_action/action/Concatenate.action
• 08 Message sync
  • message_sync/src/message_sync.cpp
• 09 Create library with header file
  • publisher_library/src/publisher_library.cpp
  • use_library/src/use_library.cpp
• 10 TF2 dynamic broadcaster
  • dynamic_tf2_publisher/src/tf2_publisher.cpp
  • dynamic_tf2_publisher/src/tf2_publisher_node.cpp

PYTHON

All the subfolders cover a specific feature and include their own setup.py and package.xml files, so you can copy and paste the single subfolder unit and put it into your ROS2 workspace to compile them

• 01 Start with simple nodes py
  • my_first_node.py
  • node_with_class.py
  • node_timer_without_class.py
  • node_timer_with_class.py
• 02 Publisher and subscriber
  • simple_publisher_node.py
  • simple_subscriber_node.py
  • simple_publisher_class_node.py
  • simple_subscriber_class_node.py