December 2015
Intermediate to advanced
300 pages
10h 47m
English
Content preview from Programming Robots with ROS
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Chapter 23. Using C++ in ROS
We chose to use Python for this book for a number of reasons. First, it’s an accessible language for people without a lot of computer science background. Second, it has a lot of useful stuff in the core packages, which lets us concentrate on higher-level concepts. Third, ROS has strong support for Python. Fourth, we wanted to pick a single language for all of the examples in the book, and Python seemed like a reasonable choice.
However, sometimes you’re going to want to use another language for your ROS development. Maybe some library that you need to use doesn’t have Python support. Maybe you’re more comfortable developing in another language. Maybe you want the (often slight) speed advantage that a compiled language brings. In this chapter, we’re going to look at how the API in C++, one of the other supported languages, differs from the Python API, and how you can translate the examples in this book to C++. All of the idioms and design patterns for C++, and any other language that has a ROS API, will be the same: we’re still going to use callbacks, we’re still going to pass messages over topics, and so on. However, the syntax and specific data structures will be a little different. Once you learn how to map the Python examples onto your language of choice, then you’ll be able to easily translate examples from one language to another.
The two best-supported language APIs in ROS are for Python and C++. In this chapter, we’ll concentrate on the C++ ...
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O’Reilly covers everything we've got, with content to help us build a world-class technology community, upgrade the capabilities and competencies of our teams, and improve overall team performance as well as their engagement.Julian F.
I wanted to learn C and C++, but it didn't click for me until I picked up an O'Reilly book. When I went on the O’Reilly platform, I was astonished to find all the books there, plus live events and sandboxes so you could play around with the technology.Addison B.
I’ve been on the O’Reilly platform for more than eight years. I use a couple of learning platforms, but I'm on O'Reilly more than anybody else. When you're there, you start learning. I'm never disappointed.Amir M.
I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.