ROS Create Custom Action

In this tutorial you’ll learn how to create a custom ROS action, and import it in your code (Python and Cpp). Using ROS actions is quite handy when you need an asynchronous client/server mechanism. You can of course use some of the existing Action definitions, but oftentimes you’ll need some sort of customization. Setup the … Read more

ROS Topic Remap [Example]

In this tutorial I’ll show you how to remap a ROS topic. Remapping a topic means that you’ll change the topic name at run-time. If a node publishes on “topic1”, then you can make it publish on “topic2” instead, without having to change the code of the node. First things first, let’s understand why. Why … Read more

[ROS] Include a Cpp header from another package

You want to include a Cpp header from another package in ROS, and don’t know how to do? Or you already tried and got a lot of compilation errors? Well, this tutorial is for you. I will start from scratch with a brand new custom library, build it inside a package, install it, and use … Read more

ROS AsyncSpinner Example

In this tutorial I’ll show you how to use a ROS AsyncSpinner with an example. You’ll see when using a roscpp AsyncSpinner is required, instead of the standard roscpp spinner. This tutorial could also be called: how to solve roscpp callback issues, when it seems that some callbacks are stuck or late. We’ll start by … Read more