ROS 2 Humble C++ project template, with:
- Parameters
- Launch file
- Subscribers and publishers
- Services and clients
- Google GTest
- Benchmark
An example with custom msg and srv is available in this ROS2 C++ Node Example
Launch the node with:
ros2 launch ros2_cpp_template ros2_cpp_template_launch.py
Launch test part:
ros2 launch ros2_cpp_template ros2_cpp_template_launch.py config_file:=./config/config_file_test.yaml name:=ros2_cpp_template_test
RQT Graph Image of testing: