ROS 2 Tutorials with RCLCPP

A ROS 2 C++ package containing examples and tutorial implementations built with rclcpp, the ROS 2 Client Library for C++.

This repository is intended for learning the fundamentals of ROS 2 application development, including nodes, topics, services, and launch files.

Features

• ROS 2 C++ nodes implemented with rclcpp
• Publisher and subscriber examples with turtlesim
• Service and client examples
• Custom service definitions
• Python launch files
• Composable Nodes
• Lifecycle nodes

Repository Structure

ros\_tutorials\_rclcpp/
├── launch/          # ROS 2 launch files
├── src/             # C++ node implementations
├── srv/             # Custom ROS 2 service definitions
├── CMakeLists.txt   # Package build configuration
├── package.xml      # Package metadata and dependencies
└── LICENSE          # Apache License 2.0

The package should be used with a ROS 2 distribution compatible with the dependencies declared in package.xml.

Getting Started

1. Create a ROS 2 workspace

mkdir -p ~/ros2\_ws/src
cd ~/ros2\_ws/src

2. Clone the repository

git clone https://github.com/sohamsarpotdar2001/ros\_tutorials\_rclcpp.git

3. Install dependencies

cd ~/ros2\_ws
rosdep install --from-paths src --ignore-src -r -y

4. Build and source the package

colcon build --packages-select ros\_tutorials\_rclcpp
source install/setup.bash

Running the examples

List the executables provided by the package

ros2 pkg executables ros\_tutorials\_rclcpp

Running an executable with

ros2 run ros\_tutorials\_rclcpp <executable\_name>

Launch a launch file with

ros2 launch ros\_tutorials\_rclcpp <launch\_file\_name>.launch.py

Working with Servies

List the available service types

ros2 interface list | grep ros\_tutorials\_rclcpp

Inspect a custom service definition

ros2 interface show ros\_tutorials\_rclcpp/srv/<ServiceName>

List active services

ros2 service list

Documentation

For more detailed tutorials, follow the Official ROS 2 Documentation