ROS 2 Standard Node Generation and Deployment

Generate C/C++ and CUDA code for ROS 2 standard nodes and deploy to local and remote hardware

Standard nodes are the most basic type of ROS 2 nodes. They are easy to implement and have these characteristics:

  • They operate independently and run in their own process.

  • They have their own main function.

  • They are deployed as executables along with their C++ code packages.

Because standard nodes run in independent processes, they may require higher computational resources and have more inter-process communication overhead time. If you are looking for a more computationally efficient way of managing a ROS 2 application with a large number of nodes, consider using ROS 2 component nodes. For more information about generating and deploying ROS 2 component nodes, see ROS 2 Component Node Generation and Deployment.

You can generate ROS 2 standard nodes from both MATLAB® and Simulink®. You can also generate CUDA® optimized code for the standard ROS 2 nodes from both MATLAB and Simulink.

Note

Deployment of ROS 2 nodes requires transfer of files to the target ROS 2 device through an SSH connection. Ensure that OpenSSH is installed on the target ROS 2 device before deployment.

Functions

Functions Supporting C++ Code Generation

Blocks

Blocks Supporting C++ Code Generation

Topics

Generate and Deploy ROS 2 Standard Nodes from MATLAB

Generate and Deploy ROS 2 Standard Nodes from Simulink