Summary

In this chapter, you have created your first node. Let’s do a quick recap of all the steps.

Before creating any node, you need to follow these steps:

1. You first need to create and set up a ROS 2 workspace.
2. In this workspace, you can create several packages (Python or C++) that represent different sub-parts of your application.

Then, in one package you can create one or several nodes. For each node, you will have to do the following:

1. Create a file inside the package.
2. Write the node (using the OOP template as a base).
3. Set the build instructions (setup.py for Python, CMakeLists.txt for C++).
4. Build the package.

To run the node, don’t forget to source the workspace first, and then start the node with ros2 run <pkg_name> <executable_name>.

Finally, you can introspect your nodes and even change their names when you start them, using the ros2 node command line.

Feel free to come back to this chapter anytime...