The project setup is done by ament_package() and this call must occur exactly once per package.Īment_package() installs the package.xml, registers the package with the ament index, and installs config (and possibly target) files for CMake so that it can be found by other packages using find_package. The argument to project will be the package name and must be identical to the package name in the package.xml.
ROS 2 Technical Steering Committee CharterĬmake_minimum_required ( VERSION 3.5 ) project ( my_project ) ament_package (). On the mixing of ament and catkin (catment). Working with multiple ROS 2 middleware implementations. Passing ROS arguments to nodes via the command-line. Migrating YAML parameter files from ROS 1 to ROS 2. Using ROS 2 launch to launch composable nodes. Using Python, XML, and YAML for ROS 2 Launch Files. Migrating launch files from ROS 1 to ROS 2. Building a package with Eclipse 2021-06. Packaging your ROS 2 application as a snap. Recording and playing back data with rosbag using the ROS 1 bridge. Setting up efficient intra-process communication. Using quality-of-service settings for lossy networks. Setting up a robot simulation (Ignition Gazebo). Using Fast DDS Discovery Server as discovery protocol. Adding physical and collision properties. Building a visual robot model from scratch. Using stamped datatypes with tf2_ros::MessageFilter. Launching and monitoring multiple nodes. Composing multiple nodes in a single process. 
Writing an action server and client (Python).Writing an action server and client (C++).Writing a simple service and client (Python).Writing a simple service and client (C++).Writing a simple publisher and subscriber (Python).
Writing a simple publisher and subscriber (C++). 
ROS 2 Iron Irwini (codename ‘iron’ May, 2023).
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