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Module 1 - Part 1: Nodes, Topics, and Services

Overview​

This section covers the implementation of nodes, topics, and services in ROS 2.

Nodes Implementation​

Creating a Node​

  • Node definition and initialization
  • Lifecycle management
  • Parameter declaration and handling

Node Communication​

  • Publishers and subscribers
  • Services and clients
  • Action clients and servers

Topics Implementation​

Publisher Implementation​

  • Creating publishers
  • Publishing messages
  • Quality of Service configuration

Subscriber Implementation​

  • Creating subscribers
  • Message callback functions
  • Subscription options

Services Implementation​

Service Server​

  • Service definition
  • Service callback implementation
  • Response handling

Service Client​

  • Client creation
  • Request sending
  • Response processing

Practical Implementation​

Example Node​

# Complete example node implementation

Example Publisher​

# Complete example publisher

Example Service​

# Complete example service