Summary
This chapter covered implementing key ROS 2 concepts using the rclcpp
library for C++. It introduced ROS 2 actions, comparing them to services, highlighting that actions are more suited for long-running tasks with feedback and cancellation capabilities.
The chapter also discussed parameters and how they can be used to configure nodes using YAML files for flexibility. Additionally, it covered the creation of ROS 2 launch files to manage multiple nodes efficiently, and how to build a ROS 2 workspace. The rclcpp
client library (C++) was introduced, allowing users to implement nodes.
The chapter also discussed different types of ROS 2 node (non-composable, composable, and lifecycle nodes). It explained how nodes communicate using DDS, offering various QoS configurations to ensure reliability and efficiency. The chapter also touched on building custom interfaces and messages, managing ROS parameters, and setting up DDS/Zenoh and ROS domain ID configurations for better node...