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Contents

• Prerequisites
• Goals

Prerequisites

To understand the content on this page, you should have gone through our Software Setup. It would help, but is not required, for you to have read and understood the explanations of the tools at the bottom of that page. Read ROS2 Publisher subscriber tutorial

What exactly am I doing

 You are going to be writing a ROS2 Node that will convert a message(A ros object with some data inside) into 2 separate messages that will get sent to the testbot to drive it around.

The project you'll need to complete to actually get the code running is here it has comments inside to tell you where things go. you'll need to look in this file in your cloned repo you'll just need to write the code for the middle section and this guide will lead you through doing that.

after you write your code you can build it with colcon build. after that you need to let ROS find your package so you can run

source install/setup.sh Make sure you do this at the top level install

you'll need to learn what a publisher/subscriber is, the best documentation for that is the ROS2 documentation itself

FAQ

Q: It says Make sure the Docker daemon is running. What do I do? A: Launch Docker Desktop. This starts the daemon (background process that lets Docker work).

Q: How do I actually get data from the messahe A: you need to take in the joystick message in the callback and you can look up exactly how the data inside the message is broken down in the ROS2 documentation for the joy message type