Edit on Github

Python Programming in ROS 2

Background

One of the most popular features of ROS 1 is the ability of writing robot applications in a variety of languages. Starting with Alpha 4, ROS 2 provides a Python API that can be used for communicating with other nodes written in different languages.

Install

The rclpy module enables developers to use the ROS 2 API from Python. rclpy is part of the standard ROS 2 distribution, so it’ll be installed alongside the rest of the ROS 2 packages.

Run the examples

The two classic ROS 2 examples of a “talker” and a “listener” have been implemented in Python using rclpy. The source code is available here.

Open two terminals, source the appropriate setup.* / local_setup.* file in the terminals, and run ros2 run demo_nodes_py talker in one and ros2 run demo_nodes_py listener in the other.

Once executed you should see the following on the terminal running the listener:

I heard: [Hello World: 1]
I heard: [Hello World: 2]
I heard: [Hello World: 3]
I heard: [Hello World: 4]
I heard: [Hello World: 5]
I heard: [Hello World: 6]
I heard: [Hello World: 7]
I heard: [Hello World: 8]
I heard: [Hello World: 9]
I heard: [Hello World: 10]

Communication with nodes using different ROS client libraries

Since rclpy uses the underlying ROS 2 infrastructure, Python programs that use rclpy can also communicate with applications written in C++, even if they use a different DDS vendor and are running on a different operating system.