Program Robots Like a Boss
In this tutorial I will show you how to create a sort of “global parameter server” node to keep ROS2 global parameters for all your other nodes. The thing is, in ROS2, params are specific to a specific node. You set params for a node, you start the node, and if you kill the node, … Read more
In this rclcpp params tutorial you’ll see how to get and set ROS2 params with rclcpp, in a Cpp node. If you want to do the same with Python, check out the rclpy tutorial. Setup code and declare ROS2 params with rclcpp Before you use a ROS2 param in your Cpp code, you must declare … Read more
In this rclpy params tutorial you’ll learn how to get and set ROS2 params with rclpy, inside a Python node. ROS2 params allow you to provide configuration for a node at run time. All params specified for a node are specific to this node and only exist while the node is alive. It’s very useful, … Read more
You may be wondering what are the differences between ROS1 and ROS2. And what does it change for you? ROS1 vs ROS2, let’s begin! In this article I’ll give you a practical overview of what has changed, and what’s new. I’ll try to be brief. Not too many details, not too much theory, but a … Read more
In this tutorial you’ll learn how to create a ROS2 Cpp Node. The code will be simple to focus on the basics, and get a base structure for all your future ROS2 Cpp programs. After a minimal running example I’ll show you what is the recommended way to write your node, using Object Oriented Programming … Read more
So, you’ve decided to learn ROS2. Great! And now, you wonder where to start. That’s quite normal to feel lost at the beginning. ROS is not an easy subject. It’s big and diverse, and you won’t become an expert in 2 days. In this post I’ll give you some tips about what you should focus … Read more
In this tutorial we’re going to write a minimal ROS2 Python node, with no extra functionality, just to see how to start writing any of your ROS2 program. This code will serve as a base structure, and then you’ll be able to add any ROS2 functionality you want: topics, services, parameters, and so on. First … Read more
In this tutorial you will see how to use YAML to handle your ROS2 parameters. Why using YAML for ROS2 params So, you start to write a ROS2 application and as you progress, you add more nodes, more features, more settings. You use ROS2 params in your nodes because that’s a nice way to set … Read more