Custom Interface, Param, Launch

Last Update: 2025-10-7

1. Custom `msg` and `srv` file

You may need custom data interface for your project, try customizing one if needed.

Custom msg and srv 📑 See

2. Parameters

ROS2 Parameters are helpful sometimes:

c++ 📑 See
python 📑 See

Here is a ros2 package that helps dynamically changing params interactively, try it if you are interested 🛠️ dynamic_param

3. Launch several nodes at the same time

You may need to start several ros2 nodes together, launch files will help.

Launch file 📑 See