ROS 2 Course: Beginner to Advanced

Course Overview

• Beginner to advanced topics in ROS 2.
• Implementation of code with step-by-step guidance.

Beginner Topics

1. Installation & Setup

   • Installing ROS 2 on various operating systems.
   • Setting up WSL on Windows for Linux compatibility.
   • Source configuration and updates.

2. Basic Concepts

   • Executables, topics, services, parameters, and action workspace.
   • Creating packages, publishers, subscribers.
   • Understanding and creating launch files.

Advanced Topics

1. Robot Description

   • URDF for robot description.
   • Usage of RViz for simulation.

2. Simulation Tools

   • Gazebo for robot simulation.
   • ROS 2 control integration with Gazebo.

3. Sensors and Simulation

   • Camera, LiDAR, and depth cameras in Gazebo.
   • Sensor integration for simulation environments.

4. SLAM and Navigation

   • SLAM toolbox for mapping and localization.
   • Robot navigation tools and techniques.

Additional Resources

• Website: kevinwoodrobotics.com

Detailed Topics

Setup for ROS 2 on Windows

• WSL Setup: Optional for Windows users who need Linux.
  • Use PowerShell to install WSL and Ubuntu.
  • Run Ubuntu with VS Code using code ..

Installation of ROS 2 "Humble"

• Commands:
  • Locale setup.
  • Software properties and repository installation.
  • Full desktop installation of ROS 2.

Key ROS 2 Concepts

• Sourcing: Ensures ROS 2 commands are recognized.
• Executables and Packages:
  • Executables are ROS programs located in packages.
  • turtlesim package example for running and locating executables.

Nodes and Topics

• Nodes: Communicate using topics, services, or actions.
  • List and receive information about nodes.
• Topics: Data streams between nodes.
  • Commands for topic lists, subscriptions, and publishing.

Services and Parameters

• Services: Client-server model for data requests.
• Parameters: Input data configurations for nodes.

Actions

• Action Servers and Clients: Execute goals with feedback.
• Commands: Sending action goals and managing action responses.

Workspace and Building Packages

• Workspace Structure: Organizing folders with source files.
• colcon Build Tool: Building packages and creating executables.

Creating Packages

• Custom Packages: C++ and Python examples for publishers/subscribers.
• Launch Files: Automate execution of multiple nodes.

Robot Descriptions with URDF

• URDF Structure: Links and joints configuration.
• Joint types and dynamics.
• Building simple and complex robot models.

Using RViz for Visualization

• Setup for RViz: Configuration for robot models and sensors.

Advanced Simulations with Gazebo

• Gazebo Integration: Control and simulate using ROS 2.
• Controllers: Position, velocity, and torque commands.

Sensor Integration (Camera, LiDAR, Depth Camera)

• URDF Sensor Plugins: Adding sensor capabilities to simulation.
• Visualization in RViz: Simulating sensor outputs.

SLAM Toolbox

• SLAM Overview: Mapping and localization.
• Installation and Configuration.
• Map creation and usage.

Navigation with Nav2

• Installation and Setup: Running navigation tools.
• Costmaps and Path Planning.
• Practical Navigation Execution.

Conclusion

• By the end of the course, you should have a solid understanding of ROS 2 and be ready for real-world robotics problems.
• Explore additional resources and videos for more comprehensive learning.