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 Foxy for rclcpp and ROS2 Humble for rclpy
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
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.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
