Welcome to the ROS 2 course

ROS 2 offers a powerful platform for building, simulating and deploying robotic applications. The fundamentals of ROS 2 architecture, communication mechanisms and package management will be studied during this course.

Let’s dive in and unlock the potential of ROS 2.

This entire course is based on the ROS 2 documentation webpage: https://docs.ros.org/en/humble/index.html.

Contents

• ROS 2 basics
  • What is ROS 2?
  • If coming from ROS 1
• Installation and software setup
  • Installation
    • Docker installation and configuration
    • Xlaunch installation
    • Search for ROS images
    • Generate proper Docker image
  • Code setup for working with Docker
    • Version control with Github
  • Running a Docker container
  • Opening a new terminal for the Docker container
• Configuring environment
  • Creating and configuring the workspace
  • Workspace sourcing
  • Creating and configuring a package
    • Create a package with python
    • Create a package with CMake
  • The Dockerfile script explained
• Nodes
  • What is it?
  • Do not forget
  • Important commands. Nodes
    • 1. Running a node
    • 2. Getting info from a node
    • 3. Listing all nodes
    • 4. Remapping nodes
• Topics
  • What is a topic?
  • Do not forget
  • Important commands. Topics
    • 1. Listing all topics
    • 2. Getting info from a topic
    • 3. Getting info from a topic message
    • 4. Echoing a given topic
    • 5. Publishing into a topic
    • 6. Checking a topic working rate
• Writing publisher and subscriber nodes. Python
  • Publisher node in python
    • 1. Publisher, python. Examining the code.
    • 2. Publisher, python. Adding dependencies
    • 3. Publisher, python. Adding an entry point
    • 4. Build publisher node and run
  • Subscriber node in python
    • 1. Subscriber, python. Examining the code.
    • 2. Subscriber, python. Adding dependencies
    • 3. Subscriber, python. Adding an entry point
    • 4. Build subscriber node and run
  • Practice
    • Optional
• Writing publisher and subscriber nodes. C++
  • Publisher node in C++
    • 1. Publisher, cpp. Examining the code.
    • 2. Publisher, cpp. Adding dependencies
    • 3. Publisher, cpp. CMakeLists.txt
    • 4. Build publisher node and run
  • Subscriber node in cpp
    • 1. Subscriber, cpp. Examining the code.
    • 2. Subscriber, cpp. Adding dependencies
    • 3. Subscriber, cpp. CMakeLists.txt
    • 4. Build subscriber node and run
  • Practice
    • Optional
• Services
  • What is it?
  • Do not forget
  • Important commands. Services
    • 1. Listing all services
    • 2. Service type
    • 3. Finding services
    • 4. Getting info from a service type
    • 5. Calling a service
• Writing service and client. Python
  • Setup for working with services
  • Writing the service node. Python
    • 1. Service node, python. Examining the code.
    • 2. Service, python. Adding dependencies
    • 3. Service, python. Adding an entry point
    • 4. Build service node and run
  • Client node in python
    • 1. Service client, python. Examining the code.
    • 2. Service client, python. Adding dependencies
    • 3. Service client, python. Adding an entry point
    • 4. Build service client node and run
  • Practice
    • A must-see for completing the practice
• Writing service and client. C++
  • Setup for working with services
  • Writing the service node. C++
    • 1. Service node, C++. Examining the code.
    • 2. Service, C++. Adding dependencies
    • 3. Service, C++. Adding the executable
    • 4. Build server node and run
  • Client node in C++
    • 1. Service client, cpp. Examining the code.
    • 2. Service client, C++. Adding dependencies
    • 3. Service client, C++. CMakeLists.txt
    • 4. Build service client node and run
  • Practice
    • A must-see for completing the practice
• Creating custom msg and srv. Python
  • Setup for working with custom msg and srv
  • Message definition
  • Service definition
  • Edditing the CMakeLists.txt
  • Editting the pacakge.xml file
  • Build and test
  • Testing the Sphere custom msg in a python package
    • The code
    • Dependencies and entry points
    • Build and run the custom msg
  • Testing the AddThreeInts custom srv in a python package
    • The code
    • Dependencies and entry points
    • Build and run the custom srv
• Creating custom msg and srv. C++
  • Setup for working with custom msg and srv
  • Testing the Sphere custom msg in a C++ package
    • The code
    • Dependencies and CMakeLists
    • Build and run the custom msg
  • Testing the AddThreeInts custom srv in a C++ package
    • The code
    • Dependencies and CMakeLists file
    • Build and run the custom srv
  • Testing a custom msg inisde the same package
    • Create a new package
    • Create a new custom msg
    • Build the msg file
    • The cpp code in the same package
    • Build the publisher
    • Run the publisher
• Parameters
  • What is a parameter?
  • Do not forget
  • Important commands. Parameters
    • 1. Listing all parameters
    • 2. ros2 param get
    • 3. ros2 param set
    • 4. ros2 param dump
    • 5. ros2 param load
    • 6. Load parameter file on node startup
• Launch files
  • What is a launch file?
  • Do not forget
  • Running a launch file
  • Creating a launch file
    • Explaining the code
    • Test the launch file
    • Observations on this launch file
    • Integrating launch files in ROS 2 packages
  • Working with launch files in C++ packages
  • Practice
• ROS 2 utilites
  • ROS 2 bag
    • ROS 2 bag record
    • ROS 2 bag info
    • ROS 2 bag play
  • ROS 2 rqt_graph
    • Running rqt_graph
    • Analyzing the elements of the rqt graph
• Final project
  • Installation
  • Creating recipes