Your First ROS 2 Python Node

Goal

Write a Python publisher and subscriber to understand nodes, topics and messages.

Procedure

1. Create an ament_python package.
2. Implement a publisher with rclpy.
3. Add a subscriber and console entry point.
4. Build, source and run both nodes.

Verification

Record the command output, confirm the expected ROS 2 topic or behaviour, and resolve power, TF and device-permission errors before continuing.