Writing and Building a ROS 2 Node
To write your own custom code with ROS 2, you will have to create ROS 2 programs, or in other words, nodes. You already discovered the concept of nodes in Chapter 3. In this chapter, we will go deeper, and you will write your first node with Python and C++.
Before you create a node, there is a bit of setup to do: you need to create a ROS 2 workspace, in which you will build your application. In this workspace, you will then add packages to better organize your nodes. Then, in those packages, you can start to write your nodes. After you write a node, you will build it and run it.
We will do this complete process together, with hands-on code and command lines all along the way. This is the process that you will repeat for any new node you create when developing a ROS 2 application.
By the end of this chapter, you will be able to create your own packages and ROS 2 nodes with Python and C++. You will also be able to run and introspect your nodes...
