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Overview
Setting up the Raspberry Pi 4 environment
Setting Docker for ROS
Build the ROS2 Container
Setting up VSCode
First ROS2 Program
ROS2 Python Packages
Docker and X11
RViz2

Talker ROS2 Program

Lets create a talker program to publish messages

By Kevin McAleer,    1 Minute

Talker Program

Lets create another program, that will publishes messages.

This time we’ll make it in a class:


import rclpy
from rclpy.node import Node

class talker(Node):

    def __init__(self):
        super().__init__("node_test")
        self.counter_ = 0
        self.get_logger().info("Hello World")
        self.create_timer(0.5, self.timer_callback)

    def timer_callback(self):
        self.counter_ += 1
        self.get_logger().info("Hello" + str(self.counter_))

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

if __name__ == "__main__":
    main()

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