Writing rclcpp Nodes in ROS 2

Source: ros2-copilot-skills C++ node skill

Why This Matters

ROS 2 C++ nodes are often where performance-sensitive parts of a robot end up. That makes it especially costly to get the structure wrong. A node that compiles but mishandles ownership, timer setup, or component registration can fail in ways that look unrelated to the original mistake.

Distilled Takeaways

• Store publishers, subscriptions, and timers as members or they vanish silently when scopes end.
• Prefer modern callback style and explicit parameter declaration over clever constructor tricks.
• Component-style nodes are often the right default because they preserve the option of composition later.
• shared_from_this() in constructors is a classic trap in C++ ROS 2 code.
• Logging, parameter descriptors, and clear node boundaries make later debugging much cheaper.

Practical Guidance

• Start with a clean minimal node pattern, then add capabilities deliberately.
• Use component registration even when a standalone executable also exists.
• Treat CMake registration and install rules as part of the node implementation, not afterthoughts.
• Reach for C++ when the workload is CPU-heavy, latency-sensitive, or likely to benefit from composition and intra-process transport.

Corroborating References

• ROS 2 C++ publisher/subscriber tutorial
• ROS 2 composition docs

When to Read the Original Source

Go to the original skill when you want concrete minimal and component-style node code, logging macro usage, and the warning list around ownership, constructor misuse, and component registration.