ROS Tutorials

This Cpp ROS wrapper tutorial is the third post [3/4] of a series on how to create a ROS driver package. Make sure you have read the introduction [1/4] of this series, where I explain what is a ROS wrapper, and give some details about the driver we’ll use here. Part 2 shows you how … Read more

This Python ROS wrapper tutorial is the second post [2/4] of a series on how to create a ROS driver package. Make sure you have read the introduction [1/4] of this series, where I explain what is a ROS wrapper, and give some details about the driver we’ll use here. Note: after reading the introduction, … Read more

This is the first post [1/4] of a post series on how to create a ROS driver package. So, you have a piece of hardware, you wrote a driver for it, and now you want to interface it with ROS, in order to control it from the rest of your robotics application. In this post … Read more

In this tutorial I’ll show you how to import a Python module from another package. ROS allows you to do that, and as you’ll see it’s quite simple. If you have a package which contains some common tools, helper functions, utils, or other stuff like that, you may want to be able to write the … Read more

What is the best package organization for your ROS stack? How can your better separate your code into different packages? Although there is no right answer to this question, and everyone is free to do what they think is best, I’ll try to give here some feedback from my own experience. I have analyzed what … Read more

This tutorial is a practical guide on how to use rosparam command line tool to debug ROS Params. ROS params are really useful to launch your ROS application with different setup settings, without having to re-write and re-compile any part of your code. With the rosparam command line tool, you’ll be able to test your … Read more

In this tutorial I’ll show you how to create a ROS node outside a catkin workspace – both for Python and Cpp. Most of the post is dedicated to linking ROS libraries to a Cpp file, because as you’ll see it’s quite simple for Python. Why would you want to create a node outside of … Read more

This tutorial is a practical guide on how to use rostopic and rosmsg command line tools to debug a ROS topic. If you wonder how to monitor the publishers you’ve created, how to easily print the data from a topic, or even how to monitor a topic’s bandwidth, this post is for you. Through a … Read more

This tutorial is a practical guide on how to use rosservice and rossrv command line tools to debug a ROS service. You know those command line tools are useful, but it’s hard for you to really understand how to use them efficiently? Well, this tutorial is for you. I’ll show you step by step exactly … Read more