Node template for Python and C++ nodes

All the nodes we start in this book will follow the same structure. As additional help to get started quickly, I have created a node template you can use to write the base of any Python or C++ node. I use these templates myself when creating new nodes, as the code can be quite repetitive.

You can copy and paste the templates either from this book directly, or download them from the GitHub repository: https://github.com/PacktPublishing/ROS-2-from-Scratch.

Template for a Python node

Use this code to start any new Python node:

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
class MyCustomNode(Node): # MODIFY NAME
    def __init__(self):
        super().__init__("node_name") # MODIFY NAME
def main(args=None):
    rclpy.init(args=args)
    node = MyCustomNode() # MODIFY NAME
    rclpy.spin(node...