How to create a simple CPP node

1. docker-compose exec dev bash

2. cd src

3. ros2 pkg create my_cpp_pkg --build-type ament_cmake --dependencies rclcpp

4. Create a CPP file: touch my_cpp_pkg/src/my_first_node.cpp

5. Edit the file and add:

   #include "rclcpp/rclcpp.hpp"
   
   int main(int argc, char **argv)
   {
     rclcpp::init(argc, argv);
     auto node = std::make_shared<rclcpp::Node>("cpp_test");
     RCLCPP_INFO(node->get_logger(), "Hello Cpp Node");
     rclcpp::spin(node);
     rclcpp::shutdown();
     return 0;
   }

6. Add to CMakeLists.txt:

   // find_package...
   
   add_executable(cpp_node src/my_first_node.cpp)
   ament_target_dependencies(cpp_node rclcpp)
   
   install(TARGETS
     cpp_node
     DESTINATION lib/${PROJECT_NAME}
   )
   
   // ament_package...

7. Run the node with: /ros2_ws/install/my_cpp_pkg/lib/my_cpp_pkg/cpp_node

8. Source: source ~/.bashrc

9. Run with ROS2 command: ros2 run my_cpp_pkg cpp_node