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<!DOCTYPE html><html lang="en"><head><meta charSet="utf-8"/><meta name="viewport" content="width=device-width,initial-scale=1"/><meta name="robots" content="max-image-preview:large"/><title>How To Build Your First ROS Application</title><meta name="description" content="In this robot operating system tutorial, you will learn how to build a sample application to test your ROS 2 setup on Ubuntu 22.04."/><meta property="og:title" content="How To Build Your First ROS Application"/><meta property="og:description" content="In this robot operating system tutorial, you will learn how to build a sample application to test your ROS 2 setup on Ubuntu 22.04."/><meta property="og:url" content="https://www.itprotoday.com/digital-transformation/how-to-build-your-first-ros-application"/><meta property="og:type" content="article"/><meta property="og:image" content="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt75f2ff24ee77648a/66bf655c7f44d0640a638237/image-1716x965_-_2024-08-16T103836.829.jpg?disable=upscale&width=1200&height=630&fit=crop"/><meta property="oc:keywords" content="Digital Transformation, Software Development Techniques, Ubuntu, Linux OS"/><link rel="canonical" href="https://www.itprotoday.com/digital-transformation/how-to-build-your-first-ros-application"/><script type="application/ld+json">{"@context":"https://schema.org","@type":"Article","datePublished":"2024-08-20T11:00:00.000Z","dateModified":"2024-08-20T11:00:17.590Z","headline":"How To Build Your First ROS Application","mainEntityOfPage":"https://www.itprotoday.com/digital-transformation/how-to-build-your-first-ros-application","image":{"@type":"ImageObject","url":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt75f2ff24ee77648a/66bf655c7f44d0640a638237/image-1716x965_-_2024-08-16T103836.829.jpg","caption":"","creditText":"Alamy"},"author":[{"@type":"Person","name":"Brien Posey","image":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltbd2d61ed5b87072c/6613c9a9bce8e3a5a1d68782/Brien_Posey.jpg","url":"https://www.itprotoday.com/author/brien-posey"}]}</script><script type="application/ld+json">{"@context":"https://schema.org","@type":"BreadcrumbList","itemListElement":[{"@type":"ListItem","position":1,"name":"Home","item":"https://www.itprotoday.com"},{"@type":"ListItem","position":2,"name":"Digital Transformation","item":"https://www.itprotoday.com/digital-transformation"}]}</script><link rel="preload" href="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt75f2ff24ee77648a/66bf655c7f44d0640a638237/image-1716x965_-_2024-08-16T103836.829.jpg?width=1280&auto=webp&quality=10&format=jpg&disable=upscale&blur=40" as="image"/><meta property="twitter:card" content="summary"/><script type="text/javascript">window.NREUM||(NREUM={});NREUM.info = {"agent":"","beacon":"bam.eu01.nr-data.net","errorBeacon":"bam.eu01.nr-data.net","licenseKey":"NRJS-26ae6a3b09493bbcc87","applicationID":"514059305","agentToken":null,"applicationTime":21.75139,"transactionName":"MhBSZQoZWEEDU0ZaXgtac0QLDFlfTR9WWlYMAVFdVQxEUwxDVFxDCBREWBcWGVoNRx9HXkgXRVgUHBtLDUVAHlcMB0NFVQpZQU9RQkNdDBZRRREXWA==","queueTime":0,"ttGuid":"13b3dc377b41ef3b"}; (window.NREUM||(NREUM={})).init={privacy:{cookies_enabled:true},ajax:{deny_list:["bam.eu01.nr-data.net"]},distributed_tracing:{enabled:true}};(window.NREUM||(NREUM={})).loader_config={agentID:"538480682",accountID:"3936348",trustKey:"3288925",xpid:"Vw8EV1VXABAFVVVSAggEVlE=",licenseKey:"NRJS-26ae6a3b09493bbcc87",applicationID:"514059305"};;/*! 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alt="robot arm and laptop on the table" title="robot arm and laptop on the table"/></div><div class="CaptionedContent-Caption" data-testid="captioned-content-caption"><span class="CaptionedContent-CreditTo">Alamy</span></div></div></div><div class="SocialShare"><div data-component="social-share" class="SocialShare SocialShare_variant_button ArticleBase-SocialShare ArticleBase-SocialShare_first"><a target="_blank" rel="noreferrer" aria-label="Linkedin" href="https://www.linkedin.com/sharing/share-offsite/?url=https://www.itprotoday.com/digital-transformation/how-to-build-your-first-ros-application"><span class="SocialShare-IconWrapper SocialShare-IconWrapper_variant_button"><span data-component="icon" data-name="Linkedin" class="SocialShare-Icon SocialShare-Icon_variant_button SocialShare-Icon_type_linkedin" 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style="mask-image:url(/build/_assets/Email-47H7P533.svg);-webkit-mask-image:url(/build/_assets/Email-47H7P533.svg);mask-repeat:no-repeat;-webkit-mask-repeat:no-repeat;-webkit-mask-position:center;-webkit-mask-size:contain"></span></span></a></div></div><div class="ArticleBase-BodyContent ArticleBase-BodyContent_Article" data-testid="article-base-body-content"><div data-module="content" class="ContentModule-Wrapper"><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">In a recent article, I walked readers through </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><a class="ContentText-BodyTextChunk ContentText-BodyTextChunk_link" target="_blank" href="https://www.itprotoday.com/digital-transformation/how-to-deploy-ros-2-on-ubuntu-22-04-a-step-by-step-guide">deploying the Robotics Operating System (ROS)</a></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">. In this follow-up tutorial, I will guide you through building a sample application to verify that your ROS setup works correctly.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">For the tutorial, I will work with ROS 2 and Ubuntu 22.04. Please note that these procedures may require adjustments if you use ROS 1.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Our sample application will focus on testing the ROS environment and illustrating a few </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><a class="ContentText-BodyTextChunk ContentText-BodyTextChunk_link" target="_blank" href="https://www.itprotoday.com/digital-transformation/introduction-to-robotics-operating-system-ros-">essential concepts</a></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">. Future articles will explore more practical robotics applications.</span></p><h2 class="ContentText ContentText_variant_h2 ContentText_align_left" data-testid="content-text" id="Provisioning a Workspace" style="scroll-margin-top:10rem;scroll-snap-margin-top:10rem"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Provisioning a Workspace</span></h2><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">The first step in building any ROS application is to set up a workspace where your application will run. This step involves creating a folder for the workspace, initializing the workspace, and then sourcing the workspace to ensure any environment changes are retained.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Sourcing</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> is the process of applying environment changes permanently. In </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><a class="ContentText-BodyTextChunk ContentText-BodyTextChunk_link" target="_blank" href="https://www.itprotoday.com/linux-os/the-best-linux-commands-a-comprehensive-guide-for-all-users">Linux</a></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">, when you run a script, it typically executes within a subshell. Any environment changes made within this subshell (such as updating an environment variable) are lost when the script exits. By sourcing the script, you ensure changes persist beyond the subshell.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Follow these steps to provision your workspace:</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">1. Create a folder: </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">While many ROS tutorials use the path </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">/ros2_ws/src</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">, I recommend using a custom path to help manage multiple projects. For this tutorial, I will use </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">/demo_ws</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> as our folder name. The </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">src</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> folder is commonly used to store source files.</span></p><p data-component="related-article" class="RelatedArticle"><span data-testid="related-article-title" class="RelatedArticle-Title">Related:</span><a class="RelatedArticle-RelatedContent" data-discover="true" href="/digital-transformation/how-to-build-apps-for-hololens-2-devices" target="_self">How To Build Apps for HoloLens 2 Devices</a></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Run these commands to create and navigate to the </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">/demo_ws/src</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> folder:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">mkdir -p ~/demo_ws/src</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">cd ~/demo_ws</span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">2. Initialize the workspace: </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Initialize the workspace with the following command:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">colcon build</span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Note that this command is exclusive to ROS 2. In ROS 1, you would use </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">catkin_make</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> instead.</span></p><h2 class="ContentText ContentText_variant_h2 ContentText_align_left" data-testid="content-text" id="Sourcing Your Files" style="scroll-margin-top:10rem;scroll-snap-margin-top:10rem"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Sourcing Your Files</span></h2><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Source your shell startup script to make your workspace environment persistent. Remember to perform this step each time you open a new terminal window.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Begin by running the following command:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">source /opt/ros/humble/setup.bash</span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Here are two key points to keep in mind:</span></p><div data-component="basic-list" class="BasicList BasicList_nestedLevel_0 BasicList_variant_ordered BasicList_limited"><ol data-testid="basic-list-ordered" class="BasicList-OrderedList BasicList-OrderedList_nestedLevel_0 body-normal"><li><div class="BasicList-ListItem BasicList-ListItem_variant_ordered"><span data-component="icon" data-name="Circle" class="BasicList-ListIcon BasicList-ListIcon_variant_ordered" style="mask-image:url(/build/_assets/Circle-MTZTA6VT.svg);-webkit-mask-image:url(/build/_assets/Circle-MTZTA6VT.svg);mask-repeat:no-repeat;-webkit-mask-repeat:no-repeat;-webkit-mask-position:center;-webkit-mask-size:contain"></span><div class="BasicList-Item"><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Location: </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">This command must execute within the /demo_ws/src folder.</span></p></div></div></li><li><div class="BasicList-ListItem BasicList-ListItem_variant_ordered"><span data-component="icon" data-name="Circle" class="BasicList-ListIcon BasicList-ListIcon_variant_ordered" style="mask-image:url(/build/_assets/Circle-MTZTA6VT.svg);-webkit-mask-image:url(/build/_assets/Circle-MTZTA6VT.svg);mask-repeat:no-repeat;-webkit-mask-repeat:no-repeat;-webkit-mask-position:center;-webkit-mask-size:contain"></span><div class="BasicList-Item"><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">ROS Version: </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">The term </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">humble</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> refers to a specific ROS version. Replace </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">humble </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">with the version you are using.</span></p></div></div></li></ol></div><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Sourcing this script configures critical environment variables required for ROS applications. To verify that these variables are set correctly, use the following command:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">printenv | grep -i ROS</span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Check the output to ensure that </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">ROS_Distro</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> is set to </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">humble</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> and </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">ROS_Version</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> is set to </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">2</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">. See Figure 1 for an example of what the output should look like.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><img data-component="image" class="ContentParagraph-Image" data-src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt7c6b0eb160cc2955/66bf610d0aff847fd5a7519a/Build_ROS_App_1-1.jpg?width=700&auto=webp&quality=80&disable=upscale" src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt7c6b0eb160cc2955/66bf610d0aff847fd5a7519a/Build_ROS_App_1-1.jpg?width=700&auto=webp&quality=80&disable=upscale" loading="lazy" alt="Build_ROS_App_1-1.jpg" title="Build_ROS_App_1-1.jpg"/></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Figure 1. </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_italic">Verify you have correctly set your environment variables.</span></span></p><p data-component="related-article" class="RelatedArticle"><span data-testid="related-article-title" class="RelatedArticle-Title">Related:</span><a class="RelatedArticle-RelatedContent" data-discover="true" href="/ai-machine-learning/the-future-of-robots-is-coming-on-two-legs" target="_self">The Future of Robots Is Coming on Two Legs</a></p><h2 class="ContentText ContentText_variant_h2 ContentText_align_left" data-testid="content-text" id="Setting a Domain ID" style="scroll-margin-top:10rem;scroll-snap-margin-top:10rem"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Setting a Domain ID</span></h2><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Next, you must set a domain ID for ROS. ROS uses the DDS protocol for node communication. By default, nodes use a domain ID of </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">0</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">. If other computers on the same network use domain ID 0, they might discover each other and cause interference.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">For this tutorial, we will use the default domain ID of 0. If you need to specify a custom domain ID, use the following command:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">export ROS_DOMAIN_ID=<your_domain_id></span></pre><h2 class="ContentText ContentText_variant_h2 ContentText_align_left" data-testid="content-text" id="Creating a Package" style="scroll-margin-top:10rem;scroll-snap-margin-top:10rem"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Creating a Package</span></h2><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">The next step is to create a package. Packages organize all the files required for your ROS application. Each package must have a name. In this tutorial, I will use </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold ContentText-BodyTextChunk_italic">my_package</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> as an example. In practice, you should choose a more descriptive name for your package.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">To create a package, navigate to the \demo_ws\src folder and run:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">ros2 pkg create --build-type ament_python my_package</span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">You can see what this process looks like in Figure 2.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><img data-component="image" class="ContentParagraph-Image" data-src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt4d5e2266851c8ef0/66bf614c7f44d0129e638226/Build_ROS_App_1-2.jpg?width=700&auto=webp&quality=80&disable=upscale" src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt4d5e2266851c8ef0/66bf614c7f44d0129e638226/Build_ROS_App_1-2.jpg?width=700&auto=webp&quality=80&disable=upscale" loading="lazy" alt="Build_ROS_App_1-2.jpg" title="Build_ROS_App_1-2.jpg"/></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Figure 2. </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_italic">The new package has been created.</span></span></p><h2 class="ContentText ContentText_variant_h2 ContentText_align_left" data-testid="content-text" id="Adding Python Scripts" style="scroll-margin-top:10rem;scroll-snap-margin-top:10rem"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Adding Python Scripts</span></h2><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">We will now create two simple </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><a class="ContentText-BodyTextChunk ContentText-BodyTextChunk_link" target="_blank" href="https://www.itprotoday.com/python/python-commands-cheat-sheet">Python scripts</a></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">: </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Talk</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> and </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Listen</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">. The Talk script will produce a line of text, while the Listen script will display that text.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Before creating the scripts, let’s discuss what is happening here: Each script in ROS operates as a node. Nodes communicate by passing messages across a topic, which acts as named communication channels between nodes. In this case, the Listen script will subscribe to the Talk script. The Talk script will publish a text string to a topic, which the Listen script will then receive and display.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">To begin, navigate to the folder where the publisher node will be created:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">cd ~\demo_ws/src/my_package/my_package</span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Instead of writing these scripts from scratch, you can use premade demo scripts. Download the publisher node (named “talker”) with the following command:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">wget <a href="https://raw.githubusercontent.com/ros2/examples/eloquent/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py">https://raw.githubusercontent.com/ros2/examples/eloquent/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py</a></span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Next, download the subscriber node (named “listener”) with this command:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">wget <a href="https://raw.githubusercontent.com/ros2/examples/eloquent/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py">https://raw.githubusercontent.com/ros2/examples/eloquent/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py</a></span></pre><h2 class="ContentText ContentText_variant_h2 ContentText_align_left" data-testid="content-text" id="Addressing Dependencies" style="scroll-margin-top:10rem;scroll-snap-margin-top:10rem"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Addressing Dependencies</span></h2><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">In the </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">publisher_member_function.py</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> script, shown in Figure 3, the first few lines are:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">import rclpy</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">from rclpy.node import Node</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">from std_msgs.msg import String</span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><img data-component="image" class="ContentParagraph-Image" data-src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltae51cbd908c56c03/66bf6195df0b9c490dd936a3/Build_ROS_App_2-1.jpg?width=700&auto=webp&quality=80&disable=upscale" src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltae51cbd908c56c03/66bf6195df0b9c490dd936a3/Build_ROS_App_2-1.jpg?width=700&auto=webp&quality=80&disable=upscale" loading="lazy" alt="Build_ROS_App_2-1.jpg" title="Build_ROS_App_2-1.jpg"/></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Figure 3. </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_italic">There are some dependencies listed within the publisher_member_function.py script.</span></span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">These lines define the script’s dependencies, which you must specify in the </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">package.xml</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> file.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Here is how to update this file:</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">1. Navigate to </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold ContentText-BodyTextChunk_italic">my_package</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold"> file:</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> Go to the \demo_ws\src\my_package folder and open the package.xml file.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">2. Update package information: </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Replace the default values for the name, email address, and description with accurate information. On line 8, update the license to “Apache License 2.0” if the package is for lab purposes.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">3. Add dependencies: </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Scroll to the line that reads </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold"><build_type>ament_python</build_type></span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">. Add a blank line after it, then insert the following dependencies:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text"><exec_depend>rclpy</exec_depend></span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text"><exec_depend>std_msgs</exec_depend></span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">You can see the modified file in Figure 4.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><img data-component="image" class="ContentParagraph-Image" data-src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltdf866930f90da00a/66bf61e53953f81d0cf985ac/Build_ROS_App_2-3.jpg?width=700&auto=webp&quality=80&disable=upscale" src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltdf866930f90da00a/66bf61e53953f81d0cf985ac/Build_ROS_App_2-3.jpg?width=700&auto=webp&quality=80&disable=upscale" loading="lazy" alt="Build_ROS_App_2-3.jpg" title="Build_ROS_App_2-3.jpg"/></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Figure 4. </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_italic">Here is the modified package.xml file.</span></span></p><h2 class="ContentText ContentText_variant_h2 ContentText_align_left" data-testid="content-text" id="Creating Entry Points" style="scroll-margin-top:10rem;scroll-snap-margin-top:10rem"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Creating Entry Points</span></h2><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">You need to create entry points for the two nodes. Otherwise, when you launch a node, you will receive an error message about a missing executable.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">1. Open the </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold ContentText-BodyTextChunk_italic">setup.py</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold"> file: </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Start by modifying the name, email address, description, and license in the </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">setup.py</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> file. Ensure these details match with those in the </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">package.xml</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> file.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">2. Modify the </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold ContentText-BodyTextChunk_italic">entry_points</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold"> section: </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Locate the </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">entry_points</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> section and update it to look like this:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">entry_points={</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text"> 'console_scripts': [</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text"> 'talker = my_package.publisher_member_function:main',</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text"> 'listener = my_package.subscriber_member_function:main',</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text"> ],</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">},</span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">You can see the modified file in Figure 5.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><img data-component="image" class="ContentParagraph-Image" data-src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt0a60611b1e76cc5c/66bf6281af393ae185c55750/Build_ROS_App_2-3.jpg?width=700&auto=webp&quality=80&disable=upscale" src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt0a60611b1e76cc5c/66bf6281af393ae185c55750/Build_ROS_App_2-3.jpg?width=700&auto=webp&quality=80&disable=upscale" loading="lazy" alt="Build_ROS_App_2-3.jpg" title="Build_ROS_App_2-3.jpg"/></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Figure 5. </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_italic">Here are the modifications to make for the setup.py file.</span></span></p><h2 class="ContentText ContentText_variant_h2 ContentText_align_left" data-testid="content-text" id="Building the Package" style="scroll-margin-top:10rem;scroll-snap-margin-top:10rem"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Building the Package</span></h2><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">With all the necessary files in place, build the package once more. Use the following commands:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">cd ~/demo_ws</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">sudo rosdep init</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">rosdep update</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">rosdep install -i --from-path src --rosdistro humble -y</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">colcon build</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">. install/setup.bash</span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Here is a breakdown of what the commands do:</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">cd ~/demo_ws</span></span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Switches to the directory where your workspace is located.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">sudo rosdep init</span></span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">rosdep update</span></span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">rosdep install -i --from-path src --rosdistro humble -y</span></span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Ensures all the necessary dependencies are in place. For such a simple package, managing dependencies typically isn’t a problem. However, it is always a good idea to check your dependencies just in case.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">colcon build</span></span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">. install/setup.bash</span></span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">The last two lines are responsible for building and sourcing the package.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Figures 6 and 7 show these commands in action.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><img data-component="image" class="ContentParagraph-Image" data-src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blte90fec484a60d16e/66bf6269c4fd75229c717eac/Build_ROS_App_2-4.jpg?width=700&auto=webp&quality=80&disable=upscale" src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blte90fec484a60d16e/66bf6269c4fd75229c717eac/Build_ROS_App_2-4.jpg?width=700&auto=webp&quality=80&disable=upscale" loading="lazy" alt="Build_ROS_App_2-4.jpg" title="Build_ROS_App_2-4.jpg"/></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Figure 6.</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_italic">Here are the first few steps of the build process.</span></span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><img data-component="image" class="ContentParagraph-Image" data-src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blta4ac11a0637bafd4/66bf62fc0aff8405e8a751a9/Build_ROS_App_2-5.jpg?width=700&auto=webp&quality=80&disable=upscale" src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blta4ac11a0637bafd4/66bf62fc0aff8405e8a751a9/Build_ROS_App_2-5.jpg?width=700&auto=webp&quality=80&disable=upscale" loading="lazy" alt="Build_ROS_App_2-5.jpg" title="Build_ROS_App_2-5.jpg"/></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Figure 7.</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_italic">Here is what the build process looks like at completion.</span></span></p><h2 class="ContentText ContentText_variant_h2 ContentText_align_left" data-testid="content-text" id="Running the Nodes" style="scroll-margin-top:10rem;scroll-snap-margin-top:10rem"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Running the Nodes</span></h2><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">It is time to launch the nodes.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">1. Launch the ‘talker’ node.</span></span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Run the following command to start the talker node (see Figure 8):</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">ros2 run my_package talker</span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><img data-component="image" class="ContentParagraph-Image" data-src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt12d56929d7433f08/66bf6320d05831766e761420/Build_ROS_App_2-6.jpg?width=700&auto=webp&quality=80&disable=upscale" src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt12d56929d7433f08/66bf6320d05831766e761420/Build_ROS_App_2-6.jpg?width=700&auto=webp&quality=80&disable=upscale" loading="lazy" alt="Build_ROS_App_2-6.jpg" title="Build_ROS_App_2-6.jpg"/></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Figure 8. </span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_italic">The talker node displays a series of “Hello World” messages.</span></span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">2. Launch the ‘listener’ node</span></span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Keep the talker node running and open a new terminal window. In the new window, execute these commands:</span></p><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">cd ~/demo_ws</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">. install/setup.bash</span></pre><pre data-component="code-block" class="CodeBlock"><span class="ContentText ContentText_variant_bodyNoneStyle" data-testid="content-text">ros2 run my_package listener</span></pre><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">Note: The second command references </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">setup.bash</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">. Source it each time you open a new terminal window.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text">After running these commands, the listener node should display the “Hello World” messages published by the talker node. You can see what this looks like in Figure 9.</span></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><img data-component="image" class="ContentParagraph-Image" data-src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltd15927a8c8c7f73f/66bf634b4432692bbc9bdd39/Build_ROS_App_2-7.jpg?width=700&auto=webp&quality=80&disable=upscale" src="https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltd15927a8c8c7f73f/66bf634b4432692bbc9bdd39/Build_ROS_App_2-7.jpg?width=700&auto=webp&quality=80&disable=upscale" loading="lazy" alt="Build_ROS_App_2-7.jpg" title="Build_ROS_App_2-7.jpg"/></p><p class="ContentParagraph ContentParagraph_align_left" data-testid="content-paragraph"><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_bold">Figure 9.</span></span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"> </span><span class="ContentText ContentText_variant_bodyNormal" data-testid="content-text"><span class="ContentText-BodyTextChunk ContentText-BodyTextChunk_italic">The listener receives the message from the talker.</span></span></p></div></div><div class="SocialShare"><div data-component="social-share" class="SocialShare SocialShare_variant_button ArticleBase-SocialShare ArticleBase-SocialShare_second"><a target="_blank" rel="noreferrer" aria-label="Linkedin" href="https://www.linkedin.com/sharing/share-offsite/?url=https://www.itprotoday.com/digital-transformation/how-to-build-your-first-ros-application"><span class="SocialShare-IconWrapper SocialShare-IconWrapper_variant_button"><span data-component="icon" data-name="Linkedin" class="SocialShare-Icon SocialShare-Icon_variant_button SocialShare-Icon_type_linkedin" 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Techniques","url":"/software-development/software-development-techniques","parentTopic":{"type":"TopicPrimary","title":"Software Development"}},{"type":"TopicSecondary","title":"Ubuntu","url":"/operating-systems/ubuntu","parentTopic":{"type":"TopicPrimary","title":"Operating Systems"}},{"type":"TopicSecondary","title":"Linux OS","url":"/operating-systems/linux-os","parentTopic":{"type":"TopicPrimary","title":"Operating Systems"}}]},"contentFormat":"How To","buyersJourney":"awareness","contributor":[{"title":"Brien Posey","name":"Brien Posey","companyName":"","role":"","avatar":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltbd2d61ed5b87072c/6613c9a9bce8e3a5a1d68782/Brien_Posey.jpg","link":"/author/brien-posey","tagLine":"","summary":[{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Brien Posey is a bestselling technology author, a speaker, and a 20X Microsoft MVP. In addition to his ongoing work in IT, Posey has spent the last several years training as a commercial astronaut candidate in preparation to fly on a mission to study polar mesospheric clouds from space."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"link","attrs":{"href":"https://brienposey.com/","target":"_self","rel":null,"class":null}}],"text":"https://brienposey.com/"}]}]}],"gatedWithExternalForm":false,"gatedWithSiteReg":false,"paidGating":false,"sponsorName":""},"template":{"breadcrumbs":[{"url":"/","title":"Home"},{"url":"/digital-transformation","title":"Digital Transformation"}],"topics":[{"__typename":"TopicPrimary","title":"Digital Transformation","url":"/digital-transformation"},{"__typename":"TopicSecondary","title":"Software Development Techniques","url":"/software-development/software-development-techniques","parentTopic":{"title":"Software Development"}},{"__typename":"TopicSecondary","title":"Ubuntu","url":"/operating-systems/ubuntu","parentTopic":{"title":"Operating Systems"}},{"__typename":"TopicSecondary","title":"Linux OS","url":"/operating-systems/linux-os","parentTopic":{"title":"Operating Systems"}}],"subBrand":null,"searchParams":{},"summary":"In this tutorial to deploying ROS, you will learn how to build a sample application to test your ROS 2 setup on Ubuntu 22.04. ","title":"How To Build Your First ROS Application","mobileHeadline":"How To Build Your First ROS Application","authoredBy":"","authoredOn":"","oldUrl":"","buyersJourney":"awareness","contributors":[{"title":"Brien Posey","name":"Brien Posey","companyName":"","role":"","avatar":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltbd2d61ed5b87072c/6613c9a9bce8e3a5a1d68782/Brien_Posey.jpg","link":"/author/brien-posey","tagLine":"","summary":[{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Brien Posey is a bestselling technology author, a speaker, and a 20X Microsoft MVP. In addition to his ongoing work in IT, Posey has spent the last several years training as a commercial astronaut candidate in preparation to fly on a mission to study polar mesospheric clouds from space."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"link","attrs":{"href":"https://brienposey.com/","target":"_self","rel":null,"class":null}}],"text":"https://brienposey.com/"}]}]}],"readTime":6,"newsletterSignUpPromo":{"title":"Sign up for the ITPro Today newsletter","message":"Stay on top of the IT universe with commentary, news analysis, how-to's, and tips delivered to your inbox daily.","newsletterId":"blt96562e27e259477c","buttonText":"Newsletter Sign-Up","variant":"vertical","mode":"dark"},"socialShare":[{"type":"Linkedin","url":"https://www.linkedin.com/sharing/share-offsite/?url=https://www.itprotoday.com/digital-transformation/how-to-build-your-first-ros-application"},{"type":"Facebook","url":"http://www.facebook.com/sharer/sharer.php?u=https://www.itprotoday.com/digital-transformation/how-to-build-your-first-ros-application"},{"type":"Twitter","url":"http://www.twitter.com/intent/tweet?url=https://www.itprotoday.com/digital-transformation/how-to-build-your-first-ros-application"},{"type":"Reddit","url":"https://www.reddit.com/submit?url=https://www.itprotoday.com/digital-transformation/how-to-build-your-first-ros-application\u0026title=How%20To%20Build%20Your%20First%20ROS%20Application"},{"type":"Email","url":"mailto:?subject=How To Build Your First ROS Application\u0026body=I%20thought%20the%20following%20from%20ITPro%20Today%20might%20interest%20you.%0D%0A%0D%0A%20How%20To%20Build%20Your%20First%20ROS%20Application%0D%0Ahttps%3A%2F%2Fwww.itprotoday.com%2Fdigital-transformation%2Fhow-to-build-your-first-ros-application"}],"publishedDate":"2024-08-20T11:00:00.000Z","keywords":[],"atAGlance":[],"bodyJson":[{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"In a recent article, I walked readers through "},{"type":"text","marks":[{"type":"link","attrs":{"href":"https://www.itprotoday.com/digital-transformation/how-to-deploy-ros-2-on-ubuntu-22-04-a-step-by-step-guide","target":"_self","rel":null,"class":null}}],"text":"deploying the Robotics Operating System (ROS)"},{"type":"text","text":". In this follow-up tutorial, I will guide you through building a sample application to verify that your ROS setup works correctly."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"For the tutorial, I will work with ROS 2 and Ubuntu 22.04. Please note that these procedures may require adjustments if you use ROS 1."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Our sample application will focus on testing the ROS environment and illustrating a few "},{"type":"text","marks":[{"type":"link","attrs":{"href":"https://www.itprotoday.com/digital-transformation/introduction-to-robotics-operating-system-ros-","target":"_self","rel":null,"class":null}}],"text":"essential concepts"},{"type":"text","text":". Future articles will explore more practical robotics applications."}]},{"type":"ad","pos":"300_1v_article"},{"type":"heading","attrs":{"textAlign":"left","level":2},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Provisioning a Workspace"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"The first step in building any ROS application is to set up a workspace where your application will run. This step involves creating a folder for the workspace, initializing the workspace, and then sourcing the workspace to ensure any environment changes are retained."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Sourcing"},{"type":"text","text":" is the process of applying environment changes permanently. In "},{"type":"text","marks":[{"type":"link","attrs":{"href":"https://www.itprotoday.com/linux-os/the-best-linux-commands-a-comprehensive-guide-for-all-users","target":"_self","rel":null,"class":null}}],"text":"Linux"},{"type":"text","text":", when you run a script, it typically executes within a subshell. Any environment changes made within this subshell (such as updating an environment variable) are lost when the script exits. By sourcing the script, you ensure changes persist beyond the subshell."}]},{"type":"ad","pos":"native_1v"},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Follow these steps to provision your workspace:"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"1. Create a folder: "},{"type":"text","text":"While many ROS tutorials use the path "},{"type":"text","marks":[{"type":"bold"}],"text":"/ros2_ws/src"},{"type":"text","text":", I recommend using a custom path to help manage multiple projects. For this tutorial, I will use "},{"type":"text","marks":[{"type":"bold"}],"text":"/demo_ws"},{"type":"text","text":" as our folder name. The "},{"type":"text","marks":[{"type":"bold"}],"text":"src"},{"type":"text","text":" folder is commonly used to store source files."}]},{"type":"relatedArticle","content":[{"title":"How To Build Apps for HoloLens 2 Devices","url":"/digital-transformation/how-to-build-apps-for-hololens-2-devices","target":"_self"}],"title":"Related"},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Run these commands to create and navigate to the "},{"type":"text","marks":[{"type":"bold"}],"text":"/demo_ws/src"},{"type":"text","text":" folder:"}]},{"type":"ad","pos":"video_v"},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"mkdir -p ~/demo_ws/src"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"cd ~/demo_ws"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"2. Initialize the workspace: "},{"type":"text","text":"Initialize the workspace with the following command:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"colcon build"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Note that this command is exclusive to ROS 2. In ROS 1, you would use "},{"type":"text","marks":[{"type":"bold"}],"text":"catkin_make"},{"type":"text","text":" instead."}]},{"type":"heading","attrs":{"textAlign":"left","level":2},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Sourcing Your Files"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Source your shell startup script to make your workspace environment persistent. Remember to perform this step each time you open a new terminal window."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Begin by running the following command:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"source /opt/ros/humble/setup.bash"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Here are two key points to keep in mind:"}]},{"type":"orderedList","attrs":{"start":1},"content":[{"type":"listItem","content":[{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Location: "},{"type":"text","text":"This command must execute within the /demo_ws/src folder."}]}]},{"type":"listItem","content":[{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"ROS Version: "},{"type":"text","text":"The term "},{"type":"text","marks":[{"type":"bold"}],"text":"humble"},{"type":"text","text":" refers to a specific ROS version. Replace "},{"type":"text","marks":[{"type":"bold"}],"text":"humble "},{"type":"text","text":"with the version you are using."}]}]}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Sourcing this script configures critical environment variables required for ROS applications. To verify that these variables are set correctly, use the following command:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"printenv | grep -i ROS"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Check the output to ensure that "},{"type":"text","marks":[{"type":"bold"}],"text":"ROS_Distro"},{"type":"text","text":" is set to "},{"type":"text","marks":[{"type":"bold"}],"text":"humble"},{"type":"text","text":" and "},{"type":"text","marks":[{"type":"bold"}],"text":"ROS_Version"},{"type":"text","text":" is set to "},{"type":"text","marks":[{"type":"bold"}],"text":"2"},{"type":"text","text":". See Figure 1 for an example of what the output should look like."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"image","attrs":{"textAlign":"left","src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt7c6b0eb160cc2955/66bf610d0aff847fd5a7519a/Build_ROS_App_1-1.jpg","alt":"Build_ROS_App_1-1.jpg","title":null,"style":{"float":"center"}}}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Figure 1. "},{"type":"text","marks":[{"type":"italic"}],"text":"Verify you have correctly set your environment variables."}]},{"type":"relatedArticle","content":[{"title":"The Future of Robots Is Coming on Two Legs","url":"/ai-machine-learning/the-future-of-robots-is-coming-on-two-legs","target":"_self"}],"title":"Related"},{"type":"heading","attrs":{"textAlign":"left","level":2},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Setting a Domain ID"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Next, you must set a domain ID for ROS. ROS uses the DDS protocol for node communication. By default, nodes use a domain ID of "},{"type":"text","marks":[{"type":"bold"}],"text":"0"},{"type":"text","text":". If other computers on the same network use domain ID 0, they might discover each other and cause interference."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"For this tutorial, we will use the default domain ID of 0. If you need to specify a custom domain ID, use the following command:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"export ROS_DOMAIN_ID=\u003cyour_domain_id\u003e"}]},{"type":"heading","attrs":{"textAlign":"left","level":2},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Creating a Package"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"The next step is to create a package. Packages organize all the files required for your ROS application. Each package must have a name. In this tutorial, I will use "},{"type":"text","marks":[{"type":"bold"},{"type":"italic"}],"text":"my_package"},{"type":"text","text":" as an example. In practice, you should choose a more descriptive name for your package."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"To create a package, navigate to the \\demo_ws\\src folder and run:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"ros2 pkg create --build-type ament_python my_package"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"You can see what this process looks like in Figure 2."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"image","attrs":{"textAlign":"left","src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt4d5e2266851c8ef0/66bf614c7f44d0129e638226/Build_ROS_App_1-2.jpg","alt":"Build_ROS_App_1-2.jpg","title":null,"style":{"float":"center"}}}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Figure 2. "},{"type":"text","marks":[{"type":"italic"}],"text":"The new package has been created."}]},{"type":"heading","attrs":{"textAlign":"left","level":2},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Adding Python Scripts"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"We will now create two simple "},{"type":"text","marks":[{"type":"link","attrs":{"href":"https://www.itprotoday.com/python/python-commands-cheat-sheet","target":"_self","rel":null,"class":null}}],"text":"Python scripts"},{"type":"text","text":": "},{"type":"text","marks":[{"type":"bold"}],"text":"Talk"},{"type":"text","text":" and "},{"type":"text","marks":[{"type":"bold"}],"text":"Listen"},{"type":"text","text":". The Talk script will produce a line of text, while the Listen script will display that text."}]},{"type":"ad","pos":"native_2v"},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Before creating the scripts, let’s discuss what is happening here: Each script in ROS operates as a node. Nodes communicate by passing messages across a topic, which acts as named communication channels between nodes. In this case, the Listen script will subscribe to the Talk script. The Talk script will publish a text string to a topic, which the Listen script will then receive and display."}]},{"type":"relatedArticle","content":[],"title":"Related"},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"To begin, navigate to the folder where the publisher node will be created:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"cd ~\\demo_ws/src/my_package/my_package"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Instead of writing these scripts from scratch, you can use premade demo scripts. Download the publisher node (named “talker”) with the following command:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"wget \u003ca href=\"https://raw.githubusercontent.com/ros2/examples/eloquent/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py\"\u003ehttps://raw.githubusercontent.com/ros2/examples/eloquent/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py\u003c/a\u003e"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Next, download the subscriber node (named “listener”) with this command:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"wget \u003ca href=\"https://raw.githubusercontent.com/ros2/examples/eloquent/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py\"\u003ehttps://raw.githubusercontent.com/ros2/examples/eloquent/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py\u003c/a\u003e"}]},{"type":"heading","attrs":{"textAlign":"left","level":2},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Addressing Dependencies"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"In the "},{"type":"text","marks":[{"type":"bold"}],"text":"publisher_member_function.py"},{"type":"text","text":" script, shown in Figure 3, the first few lines are:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"import rclpy"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"from rclpy.node import Node"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"from std_msgs.msg import String"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"image","attrs":{"textAlign":"left","src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltae51cbd908c56c03/66bf6195df0b9c490dd936a3/Build_ROS_App_2-1.jpg","alt":"Build_ROS_App_2-1.jpg","title":null,"style":{"float":"center"}}}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Figure 3. "},{"type":"text","marks":[{"type":"italic"}],"text":"There are some dependencies listed within the publisher_member_function.py script."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"These lines define the script’s dependencies, which you must specify in the "},{"type":"text","marks":[{"type":"bold"}],"text":"package.xml"},{"type":"text","text":" file."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Here is how to update this file:"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"1. Navigate to "},{"type":"text","marks":[{"type":"bold"},{"type":"italic"}],"text":"my_package"},{"type":"text","marks":[{"type":"bold"}],"text":" file:"},{"type":"text","text":" Go to the \\demo_ws\\src\\my_package folder and open the package.xml file."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"2. Update package information: "},{"type":"text","text":"Replace the default values for the name, email address, and description with accurate information. On line 8, update the license to “Apache License 2.0” if the package is for lab purposes."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"3. Add dependencies: "},{"type":"text","text":"Scroll to the line that reads "},{"type":"text","marks":[{"type":"bold"}],"text":"\u003cbuild_type\u003eament_python\u003c/build_type\u003e"},{"type":"text","text":". Add a blank line after it, then insert the following dependencies:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"\u003cexec_depend\u003erclpy\u003c/exec_depend\u003e"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"\u003cexec_depend\u003estd_msgs\u003c/exec_depend\u003e"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"You can see the modified file in Figure 4."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"image","attrs":{"textAlign":"left","src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltdf866930f90da00a/66bf61e53953f81d0cf985ac/Build_ROS_App_2-3.jpg","alt":"Build_ROS_App_2-3.jpg","title":null,"style":{"float":"center"}}}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Figure 4. "},{"type":"text","marks":[{"type":"italic"}],"text":"Here is the modified package.xml file."}]},{"type":"heading","attrs":{"textAlign":"left","level":2},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Creating Entry Points"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"You need to create entry points for the two nodes. Otherwise, when you launch a node, you will receive an error message about a missing executable."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"1. Open the "},{"type":"text","marks":[{"type":"bold"},{"type":"italic"}],"text":"setup.py"},{"type":"text","marks":[{"type":"bold"}],"text":" file: "},{"type":"text","text":"Start by modifying the name, email address, description, and license in the "},{"type":"text","marks":[{"type":"bold"}],"text":"setup.py"},{"type":"text","text":" file. Ensure these details match with those in the "},{"type":"text","marks":[{"type":"bold"}],"text":"package.xml"},{"type":"text","text":" file."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"2. Modify the "},{"type":"text","marks":[{"type":"bold"},{"type":"italic"}],"text":"entry_points"},{"type":"text","marks":[{"type":"bold"}],"text":" section: "},{"type":"text","text":"Locate the "},{"type":"text","marks":[{"type":"bold"}],"text":"entry_points"},{"type":"text","text":" section and update it to look like this:"}]},{"type":"ad","pos":"300_2v_article"},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"entry_points={"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":" 'console_scripts': ["}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":" 'talker = my_package.publisher_member_function:main',"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":" 'listener = my_package.subscriber_member_function:main',"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":" ],"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"},"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"You can see the modified file in Figure 5."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"image","attrs":{"textAlign":"left","src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt0a60611b1e76cc5c/66bf6281af393ae185c55750/Build_ROS_App_2-3.jpg","alt":"Build_ROS_App_2-3.jpg","title":null,"style":{"float":"center"}}}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Figure 5. "},{"type":"text","marks":[{"type":"italic"}],"text":"Here are the modifications to make for the setup.py file."}]},{"type":"heading","attrs":{"textAlign":"left","level":2},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Building the Package"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"With all the necessary files in place, build the package once more. Use the following commands:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"cd ~/demo_ws"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"sudo rosdep init"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"rosdep update"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"rosdep install -i --from-path src --rosdistro humble -y"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"colcon build"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":". install/setup.bash"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Here is a breakdown of what the commands do:"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"cd ~/demo_ws"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Switches to the directory where your workspace is located."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"sudo rosdep init"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"rosdep update"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"rosdep install -i --from-path src --rosdistro humble -y"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Ensures all the necessary dependencies are in place. For such a simple package, managing dependencies typically isn’t a problem. However, it is always a good idea to check your dependencies just in case."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"colcon build"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":". install/setup.bash"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"The last two lines are responsible for building and sourcing the package."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Figures 6 and 7 show these commands in action."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"image","attrs":{"textAlign":"left","src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blte90fec484a60d16e/66bf6269c4fd75229c717eac/Build_ROS_App_2-4.jpg","alt":"Build_ROS_App_2-4.jpg","title":null,"style":{"float":"center"}}}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Figure 6."},{"type":"text","text":" "},{"type":"text","marks":[{"type":"italic"}],"text":"Here are the first few steps of the build process."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"image","attrs":{"textAlign":"left","src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blta4ac11a0637bafd4/66bf62fc0aff8405e8a751a9/Build_ROS_App_2-5.jpg","alt":"Build_ROS_App_2-5.jpg","title":null,"style":{"float":"center"}}}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Figure 7."},{"type":"text","text":" "},{"type":"text","marks":[{"type":"italic"}],"text":"Here is what the build process looks like at completion."}]},{"type":"heading","attrs":{"textAlign":"left","level":2},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Running the Nodes"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"It is time to launch the nodes."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"1. Launch the ‘talker’ node."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Run the following command to start the talker node (see Figure 8):"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"ros2 run my_package talker"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"image","attrs":{"textAlign":"left","src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt12d56929d7433f08/66bf6320d05831766e761420/Build_ROS_App_2-6.jpg","alt":"Build_ROS_App_2-6.jpg","title":null,"style":{"float":"center"}}}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Figure 8. "},{"type":"text","marks":[{"type":"italic"}],"text":"The talker node displays a series of “Hello World” messages."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"2. Launch the ‘listener’ node"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Keep the talker node running and open a new terminal window. In the new window, execute these commands:"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"cd ~/demo_ws"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":". install/setup.bash"}]},{"type":"codeBlock","attrs":{"language":null},"content":[{"type":"text","text":"ros2 run my_package listener"}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"Note: The second command references "},{"type":"text","marks":[{"type":"bold"}],"text":"setup.bash"},{"type":"text","text":". Source it each time you open a new terminal window."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","text":"After running these commands, the listener node should display the “Hello World” messages published by the talker node. You can see what this looks like in Figure 9."}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"image","attrs":{"textAlign":"left","src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltd15927a8c8c7f73f/66bf634b4432692bbc9bdd39/Build_ROS_App_2-7.jpg","alt":"Build_ROS_App_2-7.jpg","title":null,"style":{"float":"center"}}}]},{"type":"paragraph","attrs":{"textAlign":"left"},"content":[{"type":"text","marks":[{"type":"bold"}],"text":"Figure 9."},{"type":"text","text":" "},{"type":"text","marks":[{"type":"italic"}],"text":"The listener receives the message from the talker."}]}],"contentType":"Article","uid":"blt27a23d2a6562fdaa","sponsored":{"logoUrl":"","url":"","alt":"","title":"","campaignURL":"","isSponsored":false,"gateWithSiteReg":false,"gateWithExternalForm":"None","externalFormID":""},"featuredImage":{"src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blt75f2ff24ee77648a/66bf655c7f44d0640a638237/image-1716x965_-_2024-08-16T103836.829.jpg","alt":"robot arm and laptop on the table","caption":"","creditTo":"Alamy"},"contentFormat":{"title":"How To"},"seriesTaxonomy":[],"programTaxonomy":[],"sidebarModules":[{"type":"module_content_cards","data":{"title":"Editor's Choice","moduleLabel":"Editor's Choice","variant":"default","contents":[{"type":"contentPreview","data":{"contentType":"Article","variant":"card-horizontal","thumbnail":{"src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/blte7be8ee65ed686ae/67128e1e98e874167c4f05e1/hero_powershell_multifile_tool.png","alt":"the interface of the PowerShell search tool with a hand holding a magnifying glass on a background of a blue sky and clouds in the shape of gears"},"articleName":"How I Built My Own PowerShell Multi-File Search Tool","mobileHeadline":"How I Built My Own PowerShell Multi-File Search Tool","articleUrl":"/powershell/how-i-built-my-own-powershell-multi-file-search-tool","listPageUrl":"/powershell/how-i-built-my-own-powershell-multi-file-search-tool","linkAttrs":{},"date":"Oct 22, 2024","webinarStartTime":"","categoryName":"PowerShell","categoryUrl":"/operating-systems/powershell","contributors":[{"name":"Brien Posey","link":"/author/brien-posey","avatar":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltbd2d61ed5b87072c/6613c9a9bce8e3a5a1d68782/Brien_Posey.jpg"}],"timeRead":10,"paidGating":{"paidContent":false,"paidProductTaxonomy":[]}}},{"type":"ad","data":{"pos":"native_right_1v"}},{"type":"contentPreview","data":{"contentType":"Article","variant":"card-horizontal","thumbnail":{"src":"https://eu-images.contentstack.com/v3/assets/blt07f68461ccd75245/bltf8db9c6bab6974be/67191ffa32efaa4f10cc0da3/burnout_gif.gif","alt":"burnout gif featuring a mannequin surrounded by office technology on fire"},"articleName":"Am I Burned Out? 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