ROS 2 from Scratch

ROS 2 from Scratch

Instructor: Packt - Course Instructors

Access provided by Banco Popular Dominicano

14 modules

Gain insight into a topic and learn the fundamentals.

Beginner level

Recommended experience

3 weeks to complete

at 10 hours a week

Flexible schedule

Learn at your own pace

14 modules

Gain insight into a topic and learn the fundamentals.

Beginner level

Recommended experience

3 weeks to complete

at 10 hours a week

Flexible schedule

Learn at your own pace

What you'll learn

Build a strong foundation in ROS 2 with practical, real-world applications.
Learn to create scalable applications using Python and C++.
Follow a structured process to design and simulate a custom robot.

Skills you'll gain

Tools you'll learn

C++ (Programming Language)

Details to know

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Assessments

14 assignments

Taught in English

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There are 14 modules in this course

In the world of robotics, ROS 2 is the backbone for creating scalable, efficient systems that interact with physical and virtual environments. This course provides an in-depth look at ROS 2, from the basics to more advanced concepts, preparing you to develop robust robotic applications.

Through this course, learners will gain hands-on experience with the key components of ROS 2, including node creation, message passing, and service handling. By exploring real-world applications like robot simulation and TFs, you'll strengthen your understanding and gain practical skills. What sets this course apart is its combination of theory with interactive, real-world exercises. From building and sending messages between nodes to simulating robots in Gazebo, this course provides a comprehensive learning experience. This course is perfect for robotics enthusiasts and professionals looking to dive into ROS 2. While prior programming experience is helpful, no specific robotics knowledge is required to start.

In this section, we explore ROS 2 fundamentals, including core concepts, terminology, and differences from ROS 1, while identifying prerequisites for effective robotics development.

What's included

2 videos3 readings1 assignment

In this section, we guide through selecting a ROS 2 distribution, installing Ubuntu, and setting up the ROS 2 environment for effective robotics development.

What's included

1 video5 readings1 assignment

In this section, we cover ROS 2 core concepts like nodes, topics, services, actions, parameters, and launch files for practical implementation.

What's included

1 video6 readings1 assignment

In this section, we explore creating ROS 2 workspaces, packages, and nodes in Python and C++. Learners gain hands-on skills to build, run, and introspect nodes for robotic applications.

What's included

1 video8 readings1 assignment

1 videoTotal 1 minute

Writing and Building a ROS 2 Node - Overview Video1 minute

8 readingsTotal 120 minutes

Introduction15 minutes
Sourcing the Workspace15 minutes
Building a Package10 minutes
Creating a Python Node20 minutes
Building the Node15 minutes
Creating a C++ Node15 minutes
Building and Running the Node15 minutes
Introspecting Your Nodes15 minutes

1 assignmentTotal 10 minutes

ROS 2 Node Fundamentals10 minutes

In this section, we explore ROS 2 topics for node communication, covering publishers, subscribers, and custom interfaces to enable message exchange in robotic systems.

What's included

1 video8 readings1 assignment

1 videoTotal 1 minute

Topics - Sending and Receiving Messages between Nodes - Overview Video1 minute

8 readingsTotal 165 minutes

Introduction20 minutes
Multiple Publishers and Subscribers Inside One Node30 minutes
Creating a Node with a Publisher and a Timer30 minutes
Writing a C++ Subscriber20 minutes
Changing a Topic Name at Runtime15 minutes
Creating a Custom Interface for a Topic15 minutes
Creating a New Topic Interface15 minutes
Using Your Custom Message in Your Code20 minutes

1 assignmentTotal 10 minutes

ROS 2 Communication Fundamentals10 minutes

In this section, we explore ROS 2 services, focusing on creating custom interfaces, writing servers and clients, and using tools for service analysis in node communication.

What's included

1 video8 readings1 assignment

1 videoTotal 1 minute

Client/Server Interaction between Nodes - Overview Video1 minute

8 readingsTotal 135 minutes

Introduction10 minutes
Wrapping Things Up30 minutes
Writing a Service Server15 minutes
Validating the Request20 minutes
Writing a Service Client15 minutes
Writing a C++ Service Client20 minutes
Service Challenge Client and Server5 minutes
Challenge20 minutes

1 assignmentTotal 10 minutes

Client-Server Communication in ROS 210 minutes

In this section, we explore ROS 2 actions, focusing on implementing servers, clients, and custom interfaces with feedback and cancel mechanisms.

What's included

1 video8 readings1 assignment

1 videoTotal 1 minute

Actions - When Services Are Not Enough - Overview Video1 minute

8 readingsTotal 155 minutes

Introduction10 minutes
How Do Actions Work?10 minutes
Wrapping Things Up20 minutes
Writing an Action Server15 minutes
Executing the Goal20 minutes
Implementing the Callbacks20 minutes
Writing a C++ Action Client30 minutes
Understanding the Problem with Cancel and Spin30 minutes

1 assignmentTotal 10 minutes

ROS 2 Actions and Communication10 minutes

In this section, we explore how to make ROS 2 nodes more dynamic using parameters, including loading from YAML files and updating with callbacks for real-time adaptability.

What's included

1 video1 reading1 assignment

In this section, we explore ROS 2 launch files for scaling applications, covering XML and Python implementations, node configuration, and parameter management for efficient node orchestration.

What's included

1 video5 readings1 assignment

1 videoTotal 1 minute

Launch Files - Starting All Your Nodes at Once - Overview Video1 minute

5 readingsTotal 100 minutes

Introduction20 minutes
Writing an XML Launch File20 minutes
Including a Launch File Inside Another Launch File20 minutes
Installing and Loading a YAML Param File in a Launch File20 minutes
Specifying a Namespace in a Launch File20 minutes

1 assignmentTotal 10 minutes

ROS 2 Launch File Fundamentals10 minutes

In this section, we introduce TFs and RViz for visualizing robot coordinate transformations and analyzing their relationships.

What's included

1 video3 readings1 assignment

In this section, we explore creating URDF files to model robot links and joints using TFs, with Xacro for dynamic improvements, focusing on practical robot simulation and design.

What's included

1 video9 readings1 assignment

1 videoTotal 1 minute

Creating a URDF for a Robot - Overview Video1 minute

9 readingsTotal 135 minutes

Introduction20 minutes
Modifying the Origin of the Visual10 minutes
The Process of Assembling Links and Joints15 minutes
Fixing the Joint Origin15 minutes
Recap the process to follow every time10 minutes
Right Wheel15 minutes
Left Wheel15 minutes
Improving the URDF with Xacro20 minutes
Xacro Macros15 minutes

1 assignmentTotal 10 minutes

URDF Modeling Fundamentals10 minutes

In this section, we explore packaging URDF files and publishing TFs in ROS 2, focusing on creating launch files and organizing robot data for real-world applications.

What's included

1 video4 readings1 assignment

In this section, we simulate a robot in Gazebo using ROS 2, adapt URDF with inertial and collision tags, and control the robot with plugins and launch files.

What's included

1 video9 readings1 assignment

1 videoTotal 1 minute

Simulating a Robot in Gazebo - Overview Video1 minute

9 readingsTotal 125 minutes

Introduction10 minutes
Starting Gazebo15 minutes
How Gazebo Works with ROS 215 minutes
Including the Inertial Macros in the Links10 minutes
How to Define a Collision Element10 minutes
Spawning the Robot in Gazebo20 minutes
Controlling the Robot in Gazebo15 minutes
Acceleration and Velocity Min and Max15 minutes
Starting the Gazebo Bridge with the Configuration15 minutes

1 assignmentTotal 10 minutes

Robot Simulation Fundamentals10 minutes

In this section, we explore advanced ROS 2 applications, focusing on real-world project planning, dynamic node communication, and robot simulation setup using TF and URDF.