Running a node (ros2 run)

The most basic way of running a Node is using the ROS2 tool ros2 run.

More information on it can be obtained through

ros2 run -h

which returns the most relevant arguments package_name and executable_name.

usage: ros2 run [-h] [--prefix PREFIX] package_name executable_name ...

Run a package specific executable

positional arguments:
  package_name     Name of the ROS package
  executable_name  Name of the executable
  argv             Pass arbitrary arguments to the executable

options:
  -h, --help       show this help message and exit
  --prefix PREFIX  Prefix command, which should go before the executable. Command must be wrapped
                   in quotes if it contains spaces (e.g. --prefix 'gdb -ex run --args').

Back to our example, with a properly sourced terminal, the example node can be executed with

ros2 run python_package_with_a_node sample_python_node

which will now correctly output

Hi from python_package_with_a_node.