Here’s a template you can use for all your nodes. Make sure you understand what each line does by rewatching (if needed) the previous lectures.

From now on I will start the nodes from this template so we don’t waste time always writing the same code at the beginning of each video.

OOP Python Code Template for Nodes

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node


class MyCustomNode(Node): # MODIFY NAME
    def __init__(self):
        super().__init__("node_name") # MODIFY NAME


def main(args=None):
    rclpy.init(args=args)
    node = MyCustomNode() # MODIFY NAME
    rclpy.spin(node)
    rclpy.shutdown()


if __name__ == "__main__":
    main()

OOP C++ Code Template for Nodes

#include "rclcpp/rclcpp.hpp"

class MyCustomNode : public rclcpp::Node // MODIFY NAME
{
public:
    MyCustomNode() : Node("node_name") // MODIFY NAME
    {
    }

private:
};

int main(int argc, char **argv)
{
    rclcpp::init(argc, argv);
    auto node = std::make_shared<MyCustomNode>(); // MODIFY NAME
    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;
}