ROS 2 Patterns

Instructions

When creating ROS 2 code:

1. Use the provided templates as starting points
2. Follow ROS 2 Humble conventions
3. Include proper error handling
4. Add docstrings and comments

Common Patterns

Node Structure

import rclpy
from rclpy.node import Node

class MyNode(Node):
    def __init__(self):
        super().__init__('node_name')
        # Initialize publishers, subscribers, timers

    def callback(self, msg):
        # Handle incoming messages
        pass

def main(args=None):
    rclpy.init(args=args)
    node = MyNode()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

Reference

See messages.md for common message types. See templates/ for complete templates.