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🌟 Custom ROS 2 Node Example

Publishes a simple “Hello World!” message every second using a custom message type. Ideal for getting started with ROS 2 publishers and timers.

✅ Topics

Topic Type Description
/hello_world custom_pkg/msg/Custom Custom message with a string

⚙️ Parameters

No parameters used in this node.

📦 Message Notes

  • Custom:
  • string custom_msg

This node publishes the string "Hello World!" as the content of custom_msg.

🧩 Implementation Notes

  • Built with rclcpp.
  • Uses a 1-second timer to trigger publishing.
  • Simple custom message custom_pkg::msg::Custom.
  • Logging is used to indicate node startup.

🏁 Launch Example

ros2 run custom_pkg custom_node

🧪 Dependencies

  • rclcpp
  • Custom message in custom_pkg:
  • Custom.msg