Learning ROS 2

My 1st workspace

1. Creating the workspace:

mkdir -p ~/learning_ros_ws/src
cd ~/learning_ros_ws/src

2. Generate the C++ package:

ros2 pkg create --build-type ament_cmake learning_nodes --dependencies rclcpp std_msgs

3. Added my minimal publisher and subscriber .cpp files
4. Edit CMakeLists.txt to add the rules to compile the .cpp files into executables:
   • Rules added before ament_package() section

# Add the publisher executable
add_executable(talker src/minimal_publisher.cpp)
ament_target_dependencies(talker rclcpp std_msgs)

# Add the subscriber executable
add_executable(listener src/minimal_subscriber.cpp)
ament_target_dependencies(listener rclcpp std_msgs)

# Tell ROS 2 where to install the executables so it can find them later
install(TARGETS
  talker
  listener
  DESTINATION lib/${PROJECT_NAME})

5. Build the workspace:

cd ~/learning_ros_ws
colcon build

6. Source and Run
   • The install folder contains the setup scripts needed to inject this specific workspace into your terminal's environment

source ~/learning_ros_ws/install/setup.zsh
ros2 run learning_nodes talker

and

source ~/learning_ros_ws/install/setup.zsh
ros2 run learning_nodes listener