Mastering ROS for Robotics Programming - Second Edition

Creating ROS nodes and classes with RoboWare tools

RoboWare Studio provides a wizard procedure to create C++ and Python classes and ROS nodes. To create a ROS node, do the following:

1. Right-click on the package name and select either Add C++ ROS Node or Add Python ROS Node.
2. Type the name of the package.
3. By default, two source files will be created: an example of a publisher and a subscriber node. For example, if you inserted chatter as a package name, a chatter_pub.cpp file and a chatter_sub.cpp file will be created.
4. Compile the package. The CMakeLists.txt file has already been updated according to the newly created nodes. You can remove the publisher or the subscriber in case you don't need them; the CMakeLists.txt file will be automatically ...