Beginner Tutorials

1. 编写简单的发布者和订阅者

   这个教程将引导您创建一个ROS包和两个简单的roscpp节点。talker节点将在chatter话题上广播一个消息，而listener节点将接收并输出该消息。

2. 编写简单的服务和客户端

   本教程介绍如何用C++编写服务和客户端节点。

3. Using Parameters in roscpp

   This tutorial will show you the NodeHandle parameter API, allowing you to manipulate parameters from the Parameter Server.

4. Accessing Private Names from a NodeHandle

   This tutorial will show you how to access private Names with roscpp's NodeHandle API.

5. Using Class Methods as Callbacks

   Most of the tutorials use functions in their examples, rather than class methods. This is because using functions is simpler, not because class methods are unsupported. This tutorial will show you how to use class methods for subscription and service callbacks.

Intermediate Tutorials

1. Understanding Timers

   This tutorial explains roscpp Timers, which allow you to schedule a callback to happen periodically.

• Dynamic Reconfigure

Create a new tutorial: