ROS2 C++ 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 Foxy [to be continued]

Folders tree

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

CPP

This is an ideal path to follow

• 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

PYTHON

This is an ideal path to follow

• 01 Start with simple nodes py
  • my_first_node.cpp
  • node_with_class.cpp
  • node_timer_without_class.cpp
  • node_timer_with_class.cpp