From d1920d9c63706fa80d6c6982a2380a92f33d4edf Mon Sep 17 00:00:00 2001
From: locker98 <comet@use.startmail.com>
Date: Wed, 27 Nov 2024 22:44:36 -0500
Subject: [PATCH] updated notes

---
 docs/General ROS 2/Building ROS2 packages.md | 67 +++++++++++++++++++-
 docs/General ROS 2/ROS 2 Nodes.md            |  3 +
 docs/TurtleBot 4/SLAM and Navigation.md      |  4 +-
 3 files changed, 69 insertions(+), 5 deletions(-)
 create mode 100755 docs/General ROS 2/ROS 2 Nodes.md

diff --git a/docs/General ROS 2/Building ROS2 packages.md b/docs/General ROS 2/Building ROS2 packages.md
index adcb4db..fdc87ad 100755
--- a/docs/General ROS 2/Building ROS2 packages.md	
+++ b/docs/General ROS 2/Building ROS2 packages.md	
@@ -39,8 +39,8 @@ add your code in to the folder with the `__init__.py`. This is usually in the fo
 
 #### Programming
 create a python file for your first node.
-`my_first_node.py`
-```python
+
+```python title="my_first_node.py"
 #!/usr/bin/env python
 import rclpy
 from rclpy.node import Node
@@ -100,4 +100,65 @@ Go to the workspace folder that was created in the last step and open the `src`
 ros2 pkg create {package_name} --build-type ament_cmake --dependencies rclcpp
 ```
 
-![Image title](img/ros2_nodes.png)
+
+next create a file in `{package_name}/src`and call it `node_name.cpp`
+
+```cpp title="node_name.cpp"
+#include "rclcpp/rclcpp.hpp"  
+  
+class MyNode : public rclcpp::Node  
+{  
+public:  
+   MyNode() : Node("cpp_test"), counter_(0)  
+   {  
+       RCLCPP_INFO(this->get_logger(), "Hello Cpp Node");  
+  
+       timer_ = this->create_wall_timer(std::chrono::milliseconds(500),  
+                                        std::bind(&MyNode::timerCallback, this));  
+   }  
+  
+private:  
+   void timerCallback()  
+   {  
+       counter_++;  
+       RCLCPP_INFO(this->get_logger(), "Hello %d", counter_);  
+   }  
+  
+   rclcpp::TimerBase::SharedPtr timer_;  
+   int counter_;  
+};  
+  
+int main(int argc, char **argv)  
+{  
+   rclcpp::init(argc, argv);  
+   auto node = std::make_shared<MyNode>();  
+   rclcpp::spin(node);  
+   rclcpp::shutdown();  
+   return 0;  
+}
+```
+
+Next open the program menu on VSCode using `CTRL + SHIFT + P`. Select the `C/C++: Edit Configurations (JSON)`. Make Sure the `c_cpp_properties.json` file has the `"/opt/ros/humble/include/**"` include
+
+```json hl_lines="9"
+{
+	"configurations": [
+		{
+			"browse": {
+				"databaseFilename": "${default}",
+				"limitSymbolsToIncludedHeaders": false
+			},
+			"includePath": [
+				"/opt/ros/humble/include/**",
+				"/usr/include/**"
+			],
+			"name": "ROS",
+			"intelliSenseMode": "gcc-x64",
+			"compilerPath": "/usr/bin/gcc",
+			"cStandard": "gnu11",
+			"cppStandard": "c++14"
+		}
+	],
+	"version": 4
+}
+```
\ No newline at end of file
diff --git a/docs/General ROS 2/ROS 2 Nodes.md b/docs/General ROS 2/ROS 2 Nodes.md
new file mode 100755
index 0000000..54c77f8
--- /dev/null
+++ b/docs/General ROS 2/ROS 2 Nodes.md	
@@ -0,0 +1,3 @@
+# Nodes
+Nodes are the different ROS topics. in the below picture the nodes are in blue.
+![[ros2_nodes.png|900]]
\ No newline at end of file
diff --git a/docs/TurtleBot 4/SLAM and Navigation.md b/docs/TurtleBot 4/SLAM and Navigation.md
index 7fe25b0..8a9a766 100755
--- a/docs/TurtleBot 4/SLAM and Navigation.md	
+++ b/docs/TurtleBot 4/SLAM and Navigation.md	
@@ -20,7 +20,7 @@ Once this command is running then you should be able to drive the robot like nor
 
 ### Launching the SLAM command
 Here is the `slam.yaml` config file. You can change the resolution by changing the resolution parameter, by default it is 0.05 but i have had great success when running synchronous SLAM with values as low as 0.01.
-```yaml
+```yaml title="slam.yaml"
 slam_toolbox:
   ros__parameters:
 
@@ -100,7 +100,7 @@ ros2 launch turtlebot4_viz view_robot.launch.py
 
 Once you are done creating the map make sure you save it.
 ```bash
-
+ros2 run nav2_map_server map_saver_cli -f "map_name"
 ```