Make: Volume 95

creating nodes. Note that we used ament_python

as the build type, which tells ROS 2 that we intend

to use Python to create nodes in this package.

We will write our source code in my_first_pkg/

my_first_pkg/. The other files in my_first_pkg/

help ROS understand how to build and install our

package.

The workspace contains a number of other

example packages from the GitHub repository,

such as my_bringup and my_cpp_pkg. You

are welcome to explore those to see how to

implement other nodes and features in ROS.

CREATE PUBLISHER AND SUBSCRIBER

NODES

Create a new file named my_publisher.py in my_

first_pkg/my_first_pkg/ and open it in VS Code:

code ...