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ROS2 Cpp

ROS

VSCode dev environment

Pluginlib

cmake tips

Simple Node

Simple cpp node with CMakeLists.txt Using clang as compiler

set clang using update-alternative

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sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-18 100
sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-18 100
  • using fmt library to better string format
Simple node 
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#include <chrono>
#include <memory>
#include <string>
#include <fmt/core.h>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using namespace std::chrono_literals;

class StringPublisher : public rclcpp::Node
{
public:
    StringPublisher()
    : Node("string_publisher"), count_(0)
    {
        publisher_ = this->create_publisher<std_msgs::msg::String>("chatter", 10);
        timer_ = this->create_wall_timer(
            500ms, std::bind(&StringPublisher::timer_callback, this));
    }

private:
    void timer_callback()
    {
        auto message = std_msgs::msg::String();
        message.data = "Hello, ROS 2! " + std::to_string(count_++);
        RCLCPP_INFO(this->get_logger(), fmt::format("Publishing: {}", message.data).c_str());
        publisher_->publish(message);
    }
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
    rclcpp::TimerBase::SharedPtr timer_;
    size_t count_;
};

int main(int argc, char * argv[])
{
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<StringPublisher>());
    rclcpp::shutdown();
    return 0;
}
CMakeLists.txt 
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cmake_minimum_required(VERSION 3.8)
project(cpp_demo)

set(CMAKE_C_COMPILER clang)
set(CMAKE_CXX_COMPILER clang++)

# Set C++ standard to C++17
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)  # Disable compiler-specific extensions

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(fmt REQUIRED)

add_executable(pub_demo src/pub_demo.cpp)
target_link_libraries(pub_demo fmt::fmt)
ament_target_dependencies(pub_demo rclcpp std_msgs)

install(TARGETS pub_demo
  DESTINATION lib/${PROJECT_NAME}
)
ament_package()
VSCode c_cpp_properties.json 
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{
    "configurations": [
        {
            "name": "ros",
            "includePath": [
                "/opt/ros/jazzy/include/**"
            ],
            "defines": [],
            "compilerPath": "/usr/bin/clang++",
            "cStandard": "c17",
            "cppStandard": "c++17",
            "intelliSenseMode": "linux-clang-x64"
        }
    ],
    "version": 4
}

More basic examples

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