Getting Started with ROS Programming

After discussing the basics of the ROS Master, the parameter server, and roscore , we can now start to create and build a ROS package. In this chapter, we will create different ROS nodes implementing the ROS communication system. Working with ROS packages, we will also refresh the concepts of ROS nodes, topics, messages, services, and actionlib.

We will cover the following list of topics:

• Creating, compiling and running ROS packages.
• Working with standard and custom ROS messages.
• Working with ROS services and actionlib.
• Maintaining and releasing your ROS packages.
• Creating a wiki page for ROS packages.