majiayu000 ROS 2 Patterns
Instructions
When creating ROS 2 code:
- Use the provided templates as starting points
- Follow ROS 2 Humble conventions
- Include proper error handling
- Add docstrings and comments
Common Patterns
| Pattern | Template | Use Case |
|---|---|---|
| Publisher | publisher.py | Sending data to topics |
| Subscriber | subscriber.py | Receiving data from topics |
| Service Server | (extend publisher) | Request/response pattern |
| Action Server | (advanced) | Long-running tasks |
Node Structure
import rclpy
from rclpy.node import Node
class MyNode(Node):
def __init__(self):
super().__init__('node_name')
# Initialize publishers, subscribers, timers
def callback(self, msg):
# Handle incoming messages
pass
def main(args=None):
rclpy.init(args=args)
node = MyNode()
rclpy.spin(node)
node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
Reference
See messages.md for common message types. See templates/ for complete templates.