ROS 2 Test-Talker-Listener Package

This package contains simple ROS 2 nodes for testing the publish-subscribe communication model. The talker node publishes messages on a topic, and the listener node subscribes to that topic to receive and print those messages.

Package Overview

• talker: A publisher node that sends a string message ("Hello, ROS 2!") to a topic called /test_topic every second.
• listener: A subscriber node that listens to the /test_topic topic and prints the messages received.

Nodes

Talker Node

• Executable: talker

• Description: This node publishes a message of type std_msgs/String to the /test_topic topic.

• Topic Published: /test_topic

• Message Type: std_msgs/String

  Talker Code: talker.cpp

Listener Node

• Executable: listener

• Description: This node subscribes to the /test_topic topic and prints the received messages.

• Topic Subscribed: /test_topic

• Message Type: std_msgs/String

  Listener Code: listener.cpp

Building the Package

To build the package, navigate to the root of your ROS 2 workspace and run:

colcon build

Running the Nodes

1. Run the Talker Node

In one terminal, source your workspace and run the talker node:

source install/setup.bash
ros2 run test-talker-listener talker

2. Run the Listener Node

In another terminal, source your workspace and run the listener node:

source install/setup.bash
ros2 run test-talker-listener listener

Expected Output

• Talker Terminal: The talker node will publish messages and print something like:

  [INFO] [<timestamp>]: Publishing: 'Hello, ROS 2!'
  

• Listener Terminal: The listener node will receive the messages and print something like:

  [INFO] [<timestamp>]: I heard: 'Hello, ROS 2!'
  

Dependencies

This package depends on the following ROS 2 packages:

• rclcpp: The ROS 2 C++ client library.
• std_msgs: Standard message types, including std_msgs/String.

License

This project is licensed under the Apache 2.0 License.