ros2 service Command Line Tool – Debug ROS2 Services

In this tutorial you’ll use the ros2 service command line tool to debug the services that you start from within your nodes – or nodes that already exist in your graph. As a reminder, a service has 2 sides: the server (unique), and the client (multiple clients possible). With topics, you can use ros2 topic … Read more

ros2 bag – Save and Replay Topic Data

In this tutorial you’ll learn how to use ROS2 bags, with the ros2 bag command line tool, in order to save and replay data from your ROS2 topics. Why and when to use ROS2 bags? Imagine you’re working on your real – physical – robot, and you are developing an obstacle algorithm for the robot. … Read more

Create a ROS2 package for Both Python and Cpp Nodes

In ROS2, when you create a package you have to select a build type: either ament_cmake or ament_python. This will determine whether your package is a Cpp package, or a Python package. But… How to do if you want to create a ROS2 package containing both Python nodes and Cpp nodes? Good news for you: … Read more

Create a ROS2 Cpp Package

In this tutorial you’ll learn how to create and setup a ROS2 Cpp package. I will explain every step, what every file does, how to install nodes and launch files. This will give you a good foundation for any future ROS2 Cpp package you create. Let’s get started! Setup your ROS2 Cpp package Before you … Read more

Create a ROS2 Python package

In this tutorial you’ll learn how to create and setup a ROS2 Python package. I’ll show you every step, and explain the relation between files, where to write your nodes, how to add launch files, etc. Let’s get to it! Setup your ROS2 Python package Before you can create a ROS2 Python package, make sure … Read more