ROS Index
Repository Summary
| Description | A useful collection of CPP and PYTHON examples to learn ROS2 from zero |
| Checkout URI | https://github.com/dottantgal/ros2_learning.git |
| VCS Type | git |
| VCS Version | humble |
| Last Updated | 2025-11-07 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | python cpp ros2 |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| action_tutorial | 0.0.0 |
| custom_action | 0.0.0 |
| publisher_library | 0.0.0 |
| use_library | 0.0.0 |
| custom_msg_and_srv | 0.0.0 |
| dynamic_tf2_publisher | 0.0.0 |
| message_sync | 1.0.0 |
| parameters | 0.0.0 |
| vehicle_base | 0.0.0 |
| vehicle_plugins | 0.0.0 |
| publisher_and_subscriber | 0.0.0 |
| service_server_and_client | 0.0.0 |
| start_with_simple_nodes | 0.0.0 |
| custom_msg_and_srv_py | 0.0.0 |
| publisher_and_subscriber_py | 0.0.0 |
| start_with_simple_nodes_py | 0.0.0 |
README
ROS 2 C++ & Python Learning
Practical examples for exploring rclcpp and rclpy on ROS 2 Humble
This repository collects C++ and Python packages designed to illustrate the core concepts of ROS 2: nodes, timers, topics, services, actions, parameters, plugins, TF2, and more. Every example runs on ROS 2 Humble; most also work on other rolling releases, but Humble is the tested baseline.
Prerequisites
- ROS 2 Humble installed and sourced (
source /opt/ros/humble/setup.bash) -
colconbuild tools (python3-colcon-common-extensions) -
rosdepto install system dependencies - Recommended: Ubuntu 22.04 or another Humble-supported OS
Getting Started
# create (or reuse) a colcon workspace
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
# clone this repository
git clone https://github.com/<your-org>/ros2-learning-examples.git
# install dependencies declared in every package.xml
cd ..
rosdep install --from-paths src --ignore-src --rosdistro humble -y
# build everything (C++ + Python packages)
colcon build --symlink-install
# remember to source the workspace before running examples
source install/setup.bash
Repository Layout
C++ Packages (CPP/)
Each subdirectory is a standalone ROS 2 package with its own CMakeLists.txt and package.xml, so you can copy individual folders into your workspace if preferred.
| Folder | Highlights |
|---|---|
start_with_simple_nodes |
First rclcpp::Node examples (free functions vs. classes, timers). |
publisher_and_subscriber |
Minimal publishers/subscribers, custom message type (EmployeeSalary.msg) and class-based nodes. |
custom_msg_and_srv |
Shows how to create and use custom .srv definitions. |
service_server_and_client |
Blocking and asynchronous service clients/servers. |
parameters |
Parameter declaration, retrieval, and updates at runtime. |
plugins |
Demonstrates a pluginlib-based architecture (vehicle_base, vehicle_plugins). |
actions/action_tutorial |
Action clients/servers, including the Humble-compliant goal response callback signature. |
message_sync |
Synchronising multiple topics with message filters. |
create_library_with_header |
Building a reusable library (publisher_library) and consuming it from use_library. |
dynamic_tf2_publisher |
TF2 broadcaster configurable via parameters, with launch file (launch/tf2_pub.py) and RViz config. |
Python Packages (PYTHON/)
Python equivalents live under their own packages and install via setup.py:
| Folder | Highlights |
|---|---|
start_with_simple_nodes_py |
Introductory rclpy nodes (timers, logging, class vs. functional style). |
publisher_and_subscriber_py |
Publisher/subscriber examples, including class-based nodes and exception-aware loops. |
Both Python packages include lint tests (ament_flake8, ament_pep257) to showcase standard ROS 2 Python tooling.
Running Selected Examples
C++ Dynamic TF2 Publisher
source install/setup.bash
ros2 launch dynamic_tf2_publisher tf2_pub.py \
parent_frame:=map child_frame:=base_link x:=1.0 y:=0.0 z:=0.5 yaw:=1.57
The launch file exposes every declared parameter so you can experiment without rebuilding. RViz configuration is available under dynamic_tf2_publisher/dyn_tf2_pub.rviz.
C++ Publisher Library
The publisher_library package builds a shared library that creates a timed string publisher. The use_library executable links against it:
colcon build --packages-select publisher_library use_library
source install/setup.bash
ros2 run use_library use_library
Python Publisher/Subscribers
colcon build --packages-select publisher_and_subscriber_py --symlink-install
source install/setup.bash
ros2 run publisher_and_subscriber_py simple_publisher_node
ros2 run publisher_and_subscriber_py simple_subscriber_node
Testing & Linting
Several packages enable ament_lint_auto. You can run the full suite with:
```bash colcon test colcon test-result –all
File truncated at 100 lines see the full file