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Creating Topics from Parameter Files in ROS2

The params\topic_names.yml file included in the package contains publications and subscriptions for ROS2. This file updates the package correctly on the ROS2 side when written accurately. This enables the generation of new publishers and subscribers on the ROS2 side by simply adding entries on the param side.

Build

colcon build --packages-select dynamic_topic

Run

. install/setup.bash
ros2 run dynamic_topic dynamic_topic_node

  • New features to be added are written in the main.cpp file.

  • To write persistent code to the .em extension packages of dynamic_topic.cpp and dynamic_topic.hpp files, the code should be written directly to these files. Since these files are continuously recreated, any code you write to them will be invalidated.

  • In case of errors resulting from adding or deleting new files, the build, log, install folders should be deleted, and the build process should be repeated.

  • The (void)msg parts in the dynamic_topic.cpp file are written solely to suppress warnings.