Simple ROS2 NodeJS Example

This is a minimal example of nodeJS that uses rclnodejs to create a publisher to publish messages to turtlesim.

Problems faced during project setup

1. If you have problem installing rclnodejs, make sure that your entire path does not have whitespace in between. For example, your folder name should be "MyProjects" instead of "My Projects".

2. If you have error saying "Error: could not find the cargo executable.", you need to:

   • curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
   • REFERENCE: https://www.rust-lang.org/tools/install
   • npm install

TO RUN THIS EXAMPLE

npm start

Notes

1. You can refer to node_modules/rclnodejs/types/interfaces.d.ts and see what are the available messages. For example, you can look for "namespace geometry_msgs"->"namespace msg"->"export interface Twist" and see the interface of geometry_msgs/msg/Twist.

2. You can then use "rclnodejs.createMessageObject('geometry_msgs/msg/Twist');" to create a message object, and then use that to edit the twistMsg.linear and twistMsg.angular

3. You may also refer to the official examples of rclnodejs.