ROS Client Library for the Python language.

Examples and tutorials for using RCLPy can be found at docs.ros.org. The latest function-level API documentation for RCLPy can be found in our API documentation or via searching for RCLPy on ROS Index.

Documentation can be built for rclpy using Sphinx, or accessed online.

For building documentation, you need an installation of ROS 2.

sudo apt install \
  python3-sphinx \
  python3-sphinx-autodoc-typehints \
  python3-sphinx-rtd-theme

Source your ROS 2 installation, for example:

. /opt/ros/rolling/setup.bash

Build code:

mkdir -p rclpy_ws/src
cd rclpy_ws/src
git clone https://github.com/ros2/rclpy.git
cd ..
colcon build --symlink-install

Source workspace and build docs:

source install/setup.bash
cd src/rclpy/rclpy/docs
make html

Please read the ROS 2 Contribution Guide available on docs.ros.org before contributing. If you are looking for a place to start consider checking out our issues tagged help wanted and good first issue Pull request reviews from new community members are welcomed and encouraged! Please check out the pull request, build it, and run the tests, before reviewing the code. For new feature contributions, please consider filing an issue with the enhancement tag first, so we can discuss it ahead of time. Additional support and contribution resources are listed on our documentation landing page.