ROS 2 Vector3 Publisher & Subscriber Example

This project demonstrates a simple ROS 2 node written in Python using rclpy.
The node publishes a geometry_msgs/Vector3 message and simultaneously subscribes to the same topic to receive its own messages.

How It Works

• The node creates:
  • A publisher on the topic vector_topic (geometry_msgs/msg/Vector3).
  • A subscriber on the same topic to listen for incoming messages.
  • A timer that publishes a new Vector3 message every second.
• The message has fixed coordinates:
  • x = -1.5
  • y = 2.5
  • z = 7.0
• Every published message is also received back by the subscriber, and both sending and receiving are logged in the console.

Code Structure

• GeometryNode
  The main ROS 2 node that initializes the publisher, subscriber, and timer.
• timer_callback
  Publishes a new Vector3 message once per second.
• listener_callback
  Receives and logs the message from the topic.