Chapter 4.

Programming for ROS2: Python & C++ 1st part

010243407-68 Robot Operating System Programming
[Link]. Noppadol Pudchuen
Production and Robotics Engineering
King Mongkut’s University of Technology North Bangkok
Topics
• Why both Python & C++?
• Python basics
• First python script
• Variables and basic types
• Input and output
• Condition: if, elif, else
• Loop: for and while
• C++ basics
• What is difference from C?
• How to build (compile) C++?
Why both Python & C++? – Why Python for ROS2
• Why Python for ROS2?
• Easy to learn & write
• Lots of libraries:
• Mathematics, Linear algebra, Algorithm: NumPy, SciPy
• Machine Learning, Neural Networks: Scikit-learn, TensorFlow, PyTorch
• Perception, Computer Vision: OpenCV, Open3D
• Graphic User Interface: PyQt, Tkinter
• Webserver: Django, Flask
• Tools: Matplotlib (Visualization), Pandas (Data Analytics), Jupyter (Coding)
• ROS2 supports rclpy (Python client library) (This course mainly focus on python
Why both Python & C++? – Why Python for ROS2
• Why C++ for ROS2?
• ROS2 core and many high-performance packages are written in C++.
• C++ is used when we need: Speed, Real-Time behavior, Typed (well defined)
• Modern professional libraries:
• Mathematics, Linear algebra: Eigen
• Machine Learning & Algorithm: dlib
• Perception, Computer Vision: OpenCV, Open3D, CGAL
• 3D Graphic: OpenGL
• Graphic User Interface: Qt
• Neural Networks: TensorFlow, PyTorch(C++)
• ROS2 supports rclcpp (C++ client library)
Python
Most popular Programming Language
How Python Works?
First Python Script!
• Create and open file: “[Link]”.
• Type the following code:
print("Hello, ROS2 world")
• Execute/Run “[Link]” via the Terminal then type:
python3 [Link]
Python basics, with C comparison –
Variables & Types
• Python is dynamically typed, no need for int, float in declarations.
C
int a = 10;
float b = 3.5f;
char *name = "robot";
Python
a = 10 # int
b = 3.5 # float
name = "robot" # str
Python basics, with C comparison –
Print, Input
• Python have two method for string formatting.
C
int battery = 0;
printf("Enter battery level%%");
scanf("%d", &battery);
printf("Battery: %d%%\n", battery);
Python
battery = input("Enter battery level%")
print(f"Battery: {battery}%")
print("Battery: {}".format(battery))
Python basics, with C comparison –
Condition
• Python uses indentation for scoping code.
!!(Don’t mix between spacebar and tab for indentation)
C Python
if (battery > 50) { if battery > 50:
printf("Battery OK\n"); print("Battery OK")
} else if (battery > 20) { elif battery > 20:
printf("Battery medium\n"); print("Battery medium")
} else { else:
printf("Battery low\n"); print("Battery low")
}
Python basics, with C comparison –
Loop
• Python uses indentation for scoping code.
!!(Don’t mix between spacebar and tab for indentation)
C Python
for (int i = 0; i < 5; i++) { for i in range(5):
printf("Step %d\n", i); print("Step", i)
}
int count = 0 count = 0
while (count < 3){ while count < 3:
printf("Loop: %d\n", count) print("Loop", count)
count += 1; count += 1
}
Python basics, with C comparison –
Collections
• Python has three types of collections: tuple(immutable),
list(mutable), dictionaries, and all of them have dynamic size
C Python

float distances[3] = {0.5f, 0.8f, distances = (0.5, 0.8, 1.2)

1.2f}; print(distances[0])
printf("Distance: %f\n", distances[0]);
//C doesn’t have a built-in dynamic size distances = [0.5, 1.2, 0.8]
collection.// print(distances[0]) # 0.5
[Link](1.0) # [0.5, 1.2, 0.8, 1.0]
Python basics, with C comparison –
Collections
• Python has three types of collections: tuple(immutable),
list(mutable), dictionaries, and all of them have dynamic size
C Python

//C doesn’t have a built-in key access robot = {

collection.// "name": "turtlebot3",
"battery": 80,
"mode": "AUTO"
}

print(robot["name"])
robot["battery"] = 75
Python basics, with C comparison –
Functions
• Python uses def keyword for function declaration. User doesn’t
have to specify the types of arguments and types of outputs.
C Python

float distances[3] = {0.5f, 0.8f, 1.2f}; distances = [0.5, 1.2, 0.8]

float average(float array[], int size){ def average(array) :

float sum = 0.0f; sum = 0
if(size == 0) return sum; if len(array) == 0 :
for(int i = 0; i < size; i++){ return sum
sum +=array[i]; for num in array :
} sum += num
return sum/size; return sum/len(array)
}
Python basics, with C comparison –
Modules, Libraries
• In Python, a user can create and save each .py file as a module.
The module allows users to import functions from another file.
C Python

// utils #utils

void greet(char name[]){ def greet(name):

printf(“Hello: %s\n", str); print("Hello: {}".format(name))
}
#include "utils.h" import utils

int main(int argc, char** argv){ name = "ROS2"

char name[] = "ROS2"; [Link](name)
greet(name);
}
C++
Old, Complex, Fast, Efficient, Risky!
How C++ works?
C/C++ in Ubuntu Linux
• Ubuntu Linux comes with built-in C/C++ compiler called
GCC/G++ stands for GNU Compiler Collection.
• GCC is a compiler for C, and the G++ is a compiler for C++.
• Install C/C++ Compiler:
• $ sudo apt update
• $ sudo apt install build-essential
• Verify installation:
• $ whereis gcc, $whereis g++
• $ which gcc, which g++
• $ gcc --version, g++ --version
First C++ Program!
• Create and open file: “[Link]”.
• Write the following code below, then save.
#include <iostream>

int main(int argc, char **argv){

std::cout << "Hello, world" << std::endl;
return 0;
}
• Compiling your code:
• $ g++ [Link]
• Execute your executable named [Link]
• $ ./[Link]
First C++ Program!
• Create and open file: “[Link]”.
• Write the following code below, then save.
#include <iostream>

int main(int argc, char **argv){

std::cout << "Hello, world" << std::endl;
return 0;
}
• Compiling your code with a particular name:
• $ g++ [Link] –o hello
• Execute your executable named hello
• $ ./hello
C++ basics vs C – Hello world
• <iostream> instead of <stdio.h>
• std::cout + << operators instead of printf.
C C++

#include <stdio.h> #include <iostream>

int main(int argc, char **argv){ int main(int argc, char **argv){
printf("Hello, world\n"); std::cout << "Hello, world" << std::endl;
return 0; return 0;
} }
C++ basics vs C – Types & std::string
• std::string is easier than char[] / char* from C.
• Use std::string in real code.
#include <iostream>
#include <string>

int main() {
int count = 0;
double speed = 0.5;
bool moving = true;
std::string name = "turtlebot";
std::cout << "Robot " << name << " speed: " << speed << std::endl;
return 0;
}
Object Oriented Programming (OOP)
C++ basics – OOP
• C++ has an enhanced version of structs
that has a provision to define functions.
This enhanced struct version is called
the C++ class. Each instance of the C++
Class is called an object. An object is
simply a copy of the actual class. There
are several properties associated with
objects, which are called object-
oriented programming (OOP) concepts.
C++ basics – Class
• What is class ? And What differences between Class and Struct?.

struct Robot_struct{ A compound variable to

int id; group up any related
int no_wheels;
std::string robot_name; “variables” together
}; based on their context.
C++ basics – Class
• What is class ? And What differences between Class and Struct?.
class Robot{
public:
Robot(); // contructor A compound variable
~Robot(); // destructor
void move_forward(int distance); and function to group up
void move_backward(int distance);
void move_left(int distance); any related “variables”
void move_right(int distance);
and “functions "together
private:
int id;
based on their context
int no_wheels; with access modifier.
std::string robot_name;
};
 [Link]

C++ basics – Class

#include "robot.h"

Robot::Robot(){
std::cout<<"Start Robot\n";
}

• How to declare and define the class ? Robot::~Robot(){

std::cout<<"Robot stopped\n";
}

robot.h void Robot::move_forward(int distance){

class Robot{ std::cout<<"Robot moving forward: "<< distance << "\n";
public: }
Robot(); // contructor
~Robot(); // destructor void Robot::move_backward(int distance){
void move_forward(int distance); std::cout<<"Robot moving backward: "<< distance << "\n";
void move_backward(int distance); }
void move_left(int distance);
void move_right(int distance); void Robot::move_left(int distance){
std::cout<<"Robot moving left: "<< distance << "\n";
private: }
int id;
int no_wheels; void Robot::move_right(int distance){
std::string robot_name; std::cout<<"Robot moving right: "<< distance << "\n";
}; }

Class declaration: Your class structure Class definition: Your class structure in details.
C++ basics – Class, Anatomy of class
• Anatomy of class function definition:
• First term: the return data type
• Second term: Class name
• Third term: function name after the :: symbol.

1 2 3

void Robot::move_forward(int distance){

std::cout<<"Robot moving forward: "<< distance << "\n";
}
C++ basics – Class, Object
• User can use a class by declaring a new variable as an instance
(object).
• To use any classes type, user must include their header files.
[Link] • User can use “.” operator to access
#include "robot.h" into class variable or call its function
int main(int argc, char **argv){
as show on the left.
Robot obj; • When we create a new object, the
obj.move_forward(3);
obj.move_backward(4); new object owns its own variables
obj.move_left(5); and doesn't share with another
obj.move_right(6);
object.
return 0;
}
C++ basics – Class, Pointer of class
• User can use a class by declaring a new variable as an instance
(object).
• To use any classes type, user must include their header files.
[Link] • In addition, user can populate a new
#include "robot.h" class object and pointer as shown on
the left.
int main(int argc, char **argv){
Robot *robot_2; • The new operator allocates a new
robot_2 = new Robot(); memory for the object in RAM.
robot_2->move_forward(3);
robot_2->move_backward(4); • Different from the normal variable, to
return 0; access a variable or a function in a
} pointer, the user must use “->”
symbol instead.
C++ basics – Class, Access Modifier
• Class Access Modifier: Permission/Accessibility to access into
class member(variables, functions).
• public: The public class members can be accessed by another
class or user from anywhere outside.
• private: The private class members can’t be accessed by another
class or user from anywhere outside a class. Only the class and
friend functions are allowed to access private class members.
• protected: The protected class members can’t be accessed by
another similar to the private member, but the difference from
private member is the childe class can access the members.
C++ basics – Multiple source files compilation
cmake, [Link]
• To compile several source codes, the direct g++ command is not
convenient anymore.
• cmake is another approach for building the C++ project. It’s
stands for cross-platform make file.
• Install by using the following command;
• $ sudo apt install cmake
C++ basics – Multiple source files compilation
cmake, [Link]
• Create a [Link] file and locate it inside your project.

cmake_minimum_required(VERSION 3.0)
project(robot)

add_executable(
robot
[Link]
robot.h
[Link]
)
C++ basics – Multiple source files compilation
cmake, [Link]
• After finish the preceding commands as [Link], we must
create a new folder for building the project. You can choose any
name you want.
• $ mkdir build
• After creating the build folder, move yourself into the build folder,
then type the following command to generate the project-related
configuration file:
• $ cmake ..
C++ basics – Multiple source files compilation
cmake, [Link]
• After running the cmake.. command, if everything is fine, you
should receive the message shown in figure
C++ basics – Multiple source files compilation
cmake, [Link]
• The last step, after received cmake configuration from command
cmake next, you can build your entire project with the command
• $ make
• If everything work, you can execute the project such as:
• $ ./robot