Question 1

How do I create a simple publisher and subscriber in rclcpp?

Accepted Answer

Follow the ROS 2 tutorials linked in the README, which provide step-by-step examples using rclcpp APIs to set up basic communication nodes with code snippets for C++.

Question 2

What's the difference between rclcpp and ROS 1's roscpp?

Accepted Answer

rclcpp is for ROS 2 and uses DDS/RTPS middleware for better scalability and performance, while roscpp is for ROS 1 with a custom middleware. rclcpp also leverages modern C++ features for improved reliability.

Question 3

Can rclcpp handle real-time robotic control?

Accepted Answer

Yes, rclcpp supports quality-of-service settings and can be configured for real-time use, but it depends on the underlying DDS implementation and system tuning, so performance may vary.

Question 4

How to manage dynamic parameters in rclcpp nodes?

Accepted Answer

Use the parameter services in rclcpp::Node, which allow runtime introspection and modification via ROS 2 interfaces, as described in the documentation for flexible configuration.

Question 5

rclcpp or rclpy: which is better for beginners?

Accepted Answer

rclpy (Python) is generally better for beginners due to simpler syntax and faster prototyping, while rclcpp (C++) is for performance-critical applications but has a steeper learning curve.

Question 6

How to integrate existing C++ libraries with rclcpp?

Accepted Answer

Wrap library functions within rclcpp nodes using publishers or services, and define custom message types in ROS 2 interfaces to ensure seamless integration into the ROS 2 ecosystem.

rclcpp

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