ROS 2 Tutorials

1. ROS 2 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

Discover how mobile robots move, explore remote control capabilities, and analyze system performance by visualizing data with tools like PlotJuggler and RViz2.

5. OpenCV Tracker

Learn how to integrate ROS with the OpenCV library, which will allow you to track objects using video data from your ROSbot's camera, as well as perform motion that allows the robot to follow a moving object.

6. Robot Network

Learn to configure ROS for efficient information exchange among multiple robots on both local networks and the Internet. Gain the power to command all your robots from a single location with ease.

7. Transformation

Explaining transformations and their importance in robotics algorithms. Showing how to add static and dynamic transformations, visualize them using various ROS tools, and listen to the transformations for further analysis.

8. SLAM

Implementation of the simultaneous localization and mapping (SLAM) algorithm in ROS using the `slam_toolbox` package. Shows how to create a map using a LiDAR and odometry data.

9. Navigation

Covers the basics of navigation using the nav2 package with ROSbot. The chapter introduces and explains the principles 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 nav2.

10. Exploration

The chapter focuses on the use of ROS 2 for exploration in robotics with ROSbot. Exploration includes using the slam_toolbox and nav2 tools from previous tutorials and using the explore_lite package to efficiently gather information about an unknown environment.