therobocademy/ros2_tutorial_cpp

ROS2 Tutorial CPP

Contents

• ROS2 C++ Topic (Pubisher/Subscriber)
• ROS2 C++ Service (Client/Server)
• ROS2 C++ Action (Action Client/Action Server)
• ROS2 C++ Parameter
• ROS2 C++ Interface (Message, Service, Action)
• ROS2 C++ Launch
• ROS2 C++ Composition
• ROS2 C++ Intra Process
• ROS2 C++ Lifecycle
• ROS2 C++ Plugin
• ROS2 C++ RQT
• ROS2 C++ Setup Assistant
• ROS2 C++ GDB

Run

# Topic Tutorial CPP
$ ros2 run topic_tutorial_cpp publisher_old_school
$ ros2 run topic_tutorial_cpp subscriber_old_school
$ ros2 run topic_tutorial_cpp publisher_member_function
$ ros2 run topic_tutorial_cpp subscriber_member_function
$ ros2 run topic_tutorial_cpp publisher_lambda
$ ros2 run topic_tutorial_cpp subscriber_lambda

# Service Tutorial CPP
$ ros2 run service_tutorial_cpp client 1 2
$ ros2 run service_tutorial_cpp server

# Action Tutorial CPP
$ ros2 run action_tutorial_cpp action_client
$ ros2 run action_tutorial_cpp action_server
$ ros2 action send_goal fibonacci action_tutorials_interfaces/action/Fibonacci "{order: 5}"
$ ros2 action send_goal fibonacci action_tutorials_interfaces/action/Fibonacci "{order: 5}" --feedback

# Parameter Tutorial CPP
$ ros2 run parameter_tutorial_cpp parameter
$ ros2 launch parameter_tutorial_cpp parameter.launch.py
$ ros2 launch parameter_tutorial_cpp parameter2.launch.py
$ ros2 param get /parameter my_parameter
$ ros2 param set /parameter my_parameter "world"

# Launch Tutorial CPP
$ ros2 launch launch_tutorial_cpp robot.launch.py
$ ros2 launch launch_tutorial_cpp robot.launch.xml

# Composition Tutorial CPP
$ ros2 run composition_tutorial_cpp publisher

# Intra Process Tutorial CPP
$ ros2 run intra_process_tutorial_cpp intra_process

# Lifecycle Tutorial CPP
$ ros2 run lifecycle_tutorial_cpp lifecycle_publisher
$ ros2 lifecycle set /lifecycle_publisher configure # activate, deactivate, cleanup, shutdown
$ ros2 lifecycle get /lifecycle_publisher

$ ros2 run lifecycle_tutorial_cpp lifecycle_subscriber
$ ros2 lifecycle set /lifecycle_subscriber configure # activate, deactivate, cleanup, shutdown
$ ros2 lifecycle get /lifecycle_subscriber

$ ros2 launch lifecycle_tutorial_cpp lifecycle_publisher_lifecycle_subscriber.launch.py
$ ros2 launch lifecycle_tutorial_cpp lifecycle_publisher_lifecycle_subscriber.launch.xml

# Plugin Tutorial CPP
$ ros2 run plugin_tutorial_cpp plugin_loader

# RQT Tutorial CPP
$ ros2 run rqt_tutorial_cpp rqt_node
$ rqt --force-discover  # add --force-discover option when plugin is not found.

# Setup Assistant Tutorial CPP
$ ros2 run setup_assistant_tutorial_cpp setup_assistant_tutorial

# GDB Tutorial CPP
$ ros2 run --prefix 'gdb -ex run --args' gdb_tutorial_cpp gdb
$ ros2 launch gdb_tutorial_cpp gdb.launch.py

Reference

• ROS2 Tutorials
• ROS2 Examples
• ROS2 Demos
• ROS Pluginlib Foxy
• Read the Docs official webpage
• doxygen/doxygen/Doxyfile
• gdb_test_pkg

Issue

• arg does not work in launch.xml
• pluginlib has an inner bug crash issue (commented out building process in CMakeLists.txt)