ROS 2 Overview

• rclcpp: CPP Client Library Overview
  • Initialization and Shutdown
    • Shutdown and Reinitialization
    • Testing for Shutdown and Reinitialization
  • Nodes
  • Publish and Subscribe with Topics
    • Working with Messages
      • Advanced: Messages and Smart Pointers
      • Advanced: Messages and Allocators
    • Publishing with a Publisher
      • Advanced: Alternative Ways to Create Publishers
• Core Stack Developer Overview
  • Build System
    • The ament_package Package
    • The ament_cmake Repository
    • The ament_lint Repository
    • The ament_tools Package
  • Internal ROS Interfaces
    • Internal API Architecture Overview
    • Type Specific Interfaces
      • Static Type Support
      • Static Type Support with DDS
      • Dynamic Type Support
    • The rcl Repository
    • The rmw Repository
    • The rosidl Repository
  • ROS Middleware Implementations
    • Common Packages for DDS Middleware Packages
    • Structure of ROS Middleware Implementations
  • ROS Client Interfaces (Client Libraries)
    • The rclcpp Package
    • The rclpy Repositories
• Glossary