ROS Tutorials

Rqt graph is a very useful tool to see what’s going on in your ROS graph. It’s a GUI plugin from the Rqt tool suite. In this tutorial I’ll show you how to install and use it. What is rqt graph Rqt graph is a GUI plugin from the Rqt tool suite. With rqt graph … Read more

In this tutorial I’ll show you what is ROS rqt plot and how to use it efficiently, through some examples. What is rqt plot and what to do with it Rqt is a very useful ROS tool to help you during your ROS development. It’s based on the Qt framework and includes a lot of … Read more

In this tutorial you’ll learn how to use a ROS timer in Cpp (roscpp Timer) to publish data at a fixed rate, inside a node. That will be extremely useful for all kinds of sensors you’re using in a robot. I have also create the same tutorial for Python, check it out here. So, you … Read more

ROS Rate is a powerful ROS feature you can use for your control loops – be it for reading a sensor, controlling a motor, etc. In this tutorial I’ll explain to you what is a ROS Rate, and you’ll see the code to use a rospy Rate and a roscpp Rate. Let’s get started! ROS … Read more

In this tutorial I’ll show you how to create multiple catkin workspaces with ROS. Sometimes you want to create different projects for different robots. The easiest way to manage that is to create several catkin workspaces, one for each robot project. But it’s not as simple as that. There are a few things you need … Read more

In this tutorial you’ll learn how to set and get ROS params with code, inside your nodes. You’ll see how to handle params with both rospy and roscpp. ROS parameters are quite useful to set global settings for your application. All your nodes can get access to those settings. And the best thing is: you … Read more

In this tutorial I’ll show you how to handle ROS params with a YAML file. ROS parameters are a great way to modify settings in your program without having to re-compile anything. But when you start to have many ROS params – sometimes more than a few hundreds – things  start to become quite complicated. … Read more

In a previous tutorial I’ve shown you how to write OOP code with ROS in Python. Now, time to use OOP with ROS in Cpp! I’ll use here the same application to write an example, so you can easily compare all 4 codes: Python/Cpp with/without OOP. If you haven’t read the Python tutorial: the application … Read more

You are starting to develop with ROS and come from a programming background. Maybe you’re already using OOP in many of your programs, and you wonder how you can use OOP with ROS in Python. In this post I’ll show you a complete Python example, without OOP, and then with OOP. The code will contain … Read more