Enhanced explanation on ROS 2 main function #5985
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Expanded explanation of the main function and ROS 2 initialization process. Signed-off-by: Arashdeep Singh <[email protected]>
ahcorde
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Nov 4, 2025
source/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Publisher-And-Subscriber.rst
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…p-Publisher-And-Subscriber.rst Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Arashdeep Singh <[email protected]>
fujitatomoya
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Nov 5, 2025
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github workflow is not happy, can you check the followings?
https://github.com/ros2/ros2_documentation/actions/runs/19070568079/job/54471988670?pr=5985
https://github.com/ros2/ros2_documentation/actions/runs/19070568079/job/54471988719?pr=5985
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| Following the ``MinimalPublisher`` class is ``main``, where the node actually executes. | ||
| ``rclcpp::init`` initializes ROS 2, and ``rclcpp::spin`` starts processing data from the node, including callbacks from the timer. | ||
| ``rclcpp::init`` initializes ROS 2, and ``rclcpp::spin`` starts processing data from the node, including callbacks from the timer. The ``main()`` function begins by calling ``rclcpp::init(argc, argv);`` which initializes the ROS 2 client library. |
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| ``rclcpp::init`` initializes ROS 2, and ``rclcpp::spin`` starts processing data from the node, including callbacks from the timer. The ``main()`` function begins by calling ``rclcpp::init(argc, argv);`` which initializes the ROS 2 client library. | |
| ``rclcpp::init`` initializes ROS 2, and ``rclcpp::spin`` starts processing data from the node, including callbacks from the timer. | |
| The ``main()`` function begins by calling ``rclcpp::init(argc, argv);`` which initializes the ROS 2 client library. |
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Expanded explanation of the main function and ROS 2 initialization process.
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Fixes # (issue)
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