You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Jazzy.

Beginner: Client libraries

• Using colcon to build packages
• Creating a workspace
• Creating a package
• Writing a simple publisher and subscriber (C++)
• Writing a simple publisher and subscriber (Python)
• Writing a simple service and client (C++)
• Writing a simple service and client (Python)
• Creating custom msg and srv files
• Implementing custom interfaces
• Using parameters in a class (C++)
• Using parameters in a class (Python)
• Using ros2doctor to identify issues
• Creating and using plugins (C++)