ROS 2 publishers form the backbone of robot command systems, enabling nodes to transmit control signals and direct robot actions in real-time. Mastering publisher creation in C++ is crucial for building effective robot control architectures!

In this Open Class, we'll dive into creating a ROS 2 publisher node in C++ that issues velocity commands to drive a robot. We'll build a node that broadcasts to cmd_vel topic, using Twist message interface, and directs the robot through various motion sequences including forward movement, reverse, and rotational maneuvers.