This subhub is for Python files that live in the workspace but aren’t quite ROS 2 nodes in the conventional sense. They’re either orchestration glue (start SITL, wait for heartbeat, run a node, capture logs) or single-purpose utilities (data loggers, debug publishers, smoke-test harnesses).
Two pages are populated. first-node-and-launch (Aleks’s notes) is a short, informal walkthrough of the first time we wrote a ROS 2 publisher node — Float32MultiArray, CMakeLists.txt, launch.py, basic ros2 topic debugging. If you’re new to ROS 2 and trying to figure out where to start, that’s the warm-up. The other two — data_logger.py and orchestrator.py — are placeholders for utilities under design.
The distinction between node and script matters less in ROS 2 Jazzy than it used to. With Composable Node and the Python rclpy package, a “script” can be a fully-functional node that just doesn’t run in a long-lived daemon. We try to use node for things that participate in the runtime topic graph and script for things that orchestrate or observe the graph from the outside.
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