A Systematic Approach to Learning Robot Programming with ROS

CHAPTER 2

Messages, Classes and Servers

CONTENTS

2.1 Defining custom messages

2.1.1 Defining a custom message

2.1.2 Defining a variable-length message

2.2 Introduction to ROS services

2.2.1 Service messages

2.2.2 ROS service nodes

2.2.3 Manual interaction with ROS services

2.2.4 Example ROS service client

2.2.5 Running example service and client

2.3 Using C++ classes in ROS

2.4 Creating library modules in ROS

2.5 Introduction to action servers and action clients

2.5.1 Creating an action server package

2.5.2 Defining custom action-server messages

2.5.3 Designing an action client

2.5.4 Running the example code

2.6 Introduction to parameter server

2.7 Wrap-Up

INTRODUCTION

The previous chapter explained how ROS nodes can communicate via publishing ...