ROS2 C++ learning

A useful collection of rclcpp 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 folders cover a specific feature and there are their own CMakeLists.txt and package.xml files to compile them

CPP

• 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