ROS2 basics.md

Basic principles

[[Nodes]] communicate via [[Messages|messages]] that are being transmitted through [[Topics|topics]]

![[Topic-MultiplePublisherandMultipleSubscriber.gif]]

Structure of workspace

Every ros based project must be a package inside some workspace

workspace_folder/
    src/
      cpp_package_1/
          CMakeLists.txt
          include/cpp_package_1/
          package.xml
          src/

      py_package_1/
          package.xml
          resource/py_package_1
          setup.cfg
          setup.py
          py_package_1/
      ...
      cpp_package_n/
          CMakeLists.txt
          include/cpp_package_n/
          package.xml
          src/

To create a package see note [[Creating packages| package creation]]

[[Simulation of robots|Robot simulating]]

Depends on [[Simulation of robots#URDF|URDF]] files - Universal Robot Description Format

After simulating or making a robot you should provide a [[ROS2 control|control system]] to it