Beginner Tutorials
- Writing a Simple Publisher and Subscriber
This demo will walk you through creating a ROS package as well as creating two simple rospy nodes. The "talker" node will broadcast a message on topic "chatter", while the "listener" node will receive and print that message.
- Writing a Simple Service and Client
This tutorial covers how to write a service and client node in python.
- Using Parameters in rospy
This tutorial covers the various ways in which you can get and set Parameters in rospy. Getting, setting and deleting parameters from a rospy Node is fairly simple.
- Logging with rospy
Logging messages to rosout is easy with rospy and encouraged. When you are running many nodes, seeing the command-line output of your node gets very difficult. Instead, it is much easier to publish a debugging message to rosout and then view it with rqt_console / rxconsole. *console is "over-console" of ROS and lets you view and filter the logging messages from all ROS nodes.
- Writing a ROS Python Makefile
I know what you're saying: "Python... Makefile?" Believe it or not, you do need Makefile (and CMakeLists), even if you just hack Python all day.
- Setting Up Your PYTHONPATH
What to do to find other python modules
- Using numpy with rospy
This tutorial covers using numpy with rospy, the ROS Python client library. Numpy is a popular scientific computing package for Python. You will often want to consider using Numpy with rospy if you are working with sensor data as it has better performance and many libraries for manipulating arrays of data.
Intermediate Tutorials
- Publishing messages in rospy
Writing a simple publisher and subscriber already introduced you to the basics of creating rospy Nodes that publish and receive messages on ROS Topics. As you get more experienced with ROS and rospy, you may wish to learn some advanced syntax for publishing that will save you some typing -- as well as make your code more robust to future changes.
- Python CompressedImage Subscriber Publisher
This example subscribes to a ros topic containing sensor_msgs::CompressedImage. It converts the CompressedImage into a numpy.ndarray, then detects and marks features in that image. It finally displays and publishes the new image - again as CompressedImage topic.