Beginner Tutorials

1. Writing a Simple Publisher and Subscriber

   This tutorial covers how to write a publisher and subscriber node in C++.

2. Writing a Simple Service and Client

   This tutorial covers how to write a service and client node in C++.

3. Using Parameters in roscpp

   This tutorial will show you the NodeHandle parameter API, allowing you to manipulate parameters from the Parameter Server.

4. Accessing Private Names from a NodeHandle

   This tutorial will show you how to access private Names with roscpp's NodeHandle API.

5. Using Class Methods as Callbacks

   Most of the tutorials use functions in their examples, rather than class methods. This is because using functions is simpler, not because class methods are unsupported. This tutorial will show you how to use class methods for subscription and service callbacks.

Intermediate Tutorials

1. Understanding Timers

   This tutorial explains roscpp Timers, which allow you to schedule a callback to happen periodically.

• Dynamic Reconfigure

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