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: 26 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 (over 2 years ago)
• Default Branch: humble
• Last Pushed: 2023-05-27T17:15:34.000Z (over 1 year ago)
• Last Synced: 2024-08-03T14:05:04.949Z (4 months ago)
• Topics: cpp, python, ros2
• Language: C++
• Homepage:
• Size: 108 KB
• Stars: 451
• Watchers: 18
• Forks: 54
• Open Issues: 4
• Metadata Files:
  • Readme: README.md

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• 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

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