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https://github.com/dottantgal/ROS2_learning
A useful collection of CPP and PYTHON examples to learn ROS2 from zero
https://github.com/dottantgal/ROS2_learning
cpp python ros2
Last synced: 13 days ago
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A useful collection of CPP and PYTHON examples to learn ROS2 from zero
- Host: GitHub
- URL: https://github.com/dottantgal/ROS2_learning
- Owner: dottantgal
- Created: 2022-04-05T15:45:33.000Z (about 2 years ago)
- Default Branch: humble
- Last Pushed: 2023-05-27T17:15:34.000Z (about 1 year ago)
- Last Synced: 2024-02-20T08:37:32.012Z (4 months ago)
- Topics: cpp, python, ros2
- Language: C++
- Homepage:
- Size: 108 KB
- Stars: 434
- Watchers: 19
- Forks: 55
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
Lists
- awesome-lifelong-slam - ROS2 C++ learning
- awesome-mobile-robotics - ROS2 C++ learning
README
# 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
