This package contains a few different strategies for creating short nodes that blast out messages.
The publisher_old_school recipe creates a talker node very similar to how it would be done in ROS 1 using rospy.
The publisher_local_function recipe shows how to leverage the timers provided by ROS 2 to trigger message publication.
The publisher_member_function recipe creates a class MinimalPublisher that sends messages periodically.
The publisher_member_function_with_wait_for_all_acked recipe creates a class MinimalPublisher that sends messages and wait for all messages are acknowledged.
Série: ROS 2
Mis à jour 2026-03-28
· 1 min de lecture
Minimal "publisher" cookbook recipes
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