RobotHubCourse outline

ROS 2 Lyrical Luth · Lesson 08 of 8

C++ components

Composition, executors, callback groups and lifecycle-aware design.

Estimated time · 45–75 min

Guided lesson

Work through these steps

  1. 1.

    Source the ROS 2 Lyrical environment in a fresh terminal.

  2. 2.

    Run the c++ components inspection commands before creating code.

  3. 3.

    Build only the affected package, then source the workspace overlay.

  4. 4.

    Inspect the ROS graph and verify the result from a second terminal.

Example

Try it yourself

rclcpp_components_register_nodes(robot_components
  'robot::SensorComponent')
# Select executor and callback groups from measured concurrency needs.

Practical exercise

Apply the lesson

Create a minimal ROS 2 workspace demonstration for c++ components, then prove it works with the ROS 2 CLI.

Before you continue

  • ROS_DISTRO reports lyrical
  • The workspace builds without errors
  • The expected node, topic, service, or action is visible in the graph