ROS Tutorials

1. ROS Introduction

Basic concepts and tools necessary to work with ROS applications 2. Configure the environment, launch nodes, and learn how to check and analyze running nodes and submitted topics.

2. Creating Nodes - Messages

Learn how to set up a workspace, create a publisher to calculate image brightness, and a subscriber to process camera images. Discover key ROS 2 packages.

Discover another fundamental aspect of ROS - services. Learn the process of creating and utilizing ROS services. Additionally, grasp the functioning of timers and how to effectively parameterize your code.

4. Kinematics and Visualization

Introduce of the kinematics of mobile robot movement, as well as data visualization using tools such as PlotJuggler and RViz2.

5. Visual Object Recognition

Learn how to perform visual object recognition using a camera and ROSbot. The tutorial covers setting up the vision system, teaching the robot to recognize objects, and tracking the recognized objects.

6. Robot Network

Configuring ROS to run on multiple computers. Scenarios will be presented in which robots are located in a LAN or connected to the Internet using Husarnet VPN.

7. Transformation

Explaining transformations and their importance in robotics algorithms. Showing how to add static and dynamic transformations and how to listen to them and visualize the transformations using the RViz tool for further analysis.

8. SLAM

Provides a tutorial on Simultaneous Localization and Mapping (SLAM) using the gmapping package and the RPLiDAR sensor. The tutorial covers map creation, localization using the amcl package, and demonstrates SLAM functionality in both real and simulated environments.

9. Navigation

Covers the basics of navigation using the move_base package using ROSbot. The chapter introduces and explains the principle of operation of navigation algorithms, including concepts such as: cost maps, global path planning and control using the Regulated Pure Pursuit algorithm. Also includes tips on configuring move_base.

10. Exploration

The chapter focuses on the use of ROS 2 for exploration in robotics with ROSbot. Exploration includes using the gmapping and move_base tools from previous tutorials and using the explore_lite package to efficiently gather information about an unknown environment.