ROS2 Publisher Subscriber

This repository contains code for a basic ROS2 Publisher and Subscriber program implemented in Python.

Installation

To use this code, you need to have ROS2 installed on your system. Follow the ROS2 installation instructions from the official ROS2 documentation.

Creating ROS2 Packages

To create a ROS2 package, follow these steps:

1. Create a new directory for your package:

  mkdir -p ~/ros2_ws/src
  cd ~/ros2_ws/src

2. Initialize a new ROS2 package:

  ros2 pkg create --build-type ament_python <Package_Name>

  Example:  ros2 pkg create --build-type ament_python pubsub_pkg

3. Copy the provided Python scripts (publisher.py and subscriber.py) into the 'pubsub_pkg' package directory.

4. Edit the 'setup.py' file in the 'pubsub_pkg' package directory to include the following console scripts entry points:

  entry_points={
        'console_scripts': [
                'talker = pubsub_pkg.publisher:main',
                'listener = pubsub_pkg.subscriber:main'
        ],
},

5. Edit the 'package.xml' file and add the following dependencies for execution

  <exec_depend>rclpy</exec_depend>
  <exec_depend>std_msgs</exec_depend>

Building and Running the Publisher and Subscriber

To build and run the publisher and subscriber nodes, follow these steps:

1. Build the ROS2 workspace:

  cd ~/ros2_ws
  colcon build --packages-select pubsub_pkg

2. Source the setup script:

  source install/setup.bash

3. Run the publisher:

  ros2 run pubsub_pkg talker

4. In a separate terminal, run the subscriber:

  ros2 run pubsub_pkg listener

Do not forget to source the terminal every time you open a new terminal

The publisher will start publishing messages, and the subscriber will receive and display the messages.

The code is tested with python 3.8 , Ubuntu 20.04 - ROS2 Foxy

License

This project is licensed under the MIT License.

Aurthor: rupesh32003@gmail.com