Packages: Basic

Those packages regroups simple and basic tools mostly for testing and illustrate ROS2 features.

• basic_msg: Dedicated to define specifics ROS2 messages.
• basic_node: Simple processes

Get Started

It is possible to use simple clone and install script :

./bin/clone-basic
source ./bin/run-commands.bash

To test the install you can try the multiplexer node :

ros2 run basic_node multiplexer

This node filter velocity commands from deverals source with a priority preferecny. A ros2 topic list commands should show the /multi/cmd_nav and /multi/cmd_teleop topics for input (teleop get the piority on nav) and an output topic \cmd_vel.