Attention

This is older information related to ROS2 Humble. Newer versions, such as Jazzy, are part of the ongoing versions of this tutorial.

Note

This section is optional, the ROS2 tutorial starts at ROS2 Installation.

Python Basics

• Installing Python on Ubuntu
  • A quick Python check
  • Some Python packages must be installed through apt
  • When you want to isolate your environment, use venv
  • Installing libraries
  • Removing libraries (installed with pip)
  • When using pip, do NOT use sudo
• Editing Python source (with VS Code)
  • Installing VS Code
  • Running VS Code
  • Adding the ROS plugin to VS Code
• Editing Python source (with PyCharm)
  • Installing PyCharm
  • Create an alias for pycharm_ros2
  • 2024.09 Update
• (Murilo’s) Python Best Practices
  • Terminology
  • Use a venv
  • Minimalist package: something to start with
  • Minimalist script
  • Running a Python script on the terminal
  • When using if __name__=="__main__":, just call the real main()
  • It’s dangerous to go alone: Always wrap the contents of main function on a try–except block
  • Minimalist class: Use classes profusely
  • Not a matter of taste: Code style
  • Take the (type) hint: Always use type hints
  • Document your code with Docstrings
  • Unit tests: always test your code
• Python’s asyncio
  • Use a venv
  • Create the minimalist_async package
  • Create the async function
  • Using await
  • Using callback
• Making your Python package installable
  • Use a venv
  • The setup.py
  • Installing wheel
  • Installing the Python package
  • Running the newly available scripts
  • Importing things from the installed package
  • Uninstalling packages