Courses / programming

ROS 2 Advanced

intermediate~20 hours19 lessonsEnvironment: docker

Prerequisites: ros2-basics, modern-cpp

Start: C++ package with ament_cmakePractice questions

Modules

Module 1 — rclcpp: ROS 2 in C++
  1. 1C++ package with ament_cmake
  2. 2Publishers and subscribers in rclcpp
  3. 3Services and actions in rclcpp
  4. 4Porting a Python node to C++
Module 2 — Execution model
  1. 1Executors: single vs multi-threaded
  2. 2Callback groups
  3. 3Deadlocks and how to avoid them
Module 3 — Lifecycle nodes
  1. 1Managed node states
  2. 2Writing a lifecycle node
  3. 3Orchestrating startup with lifecycle
Module 4 — Composition
  1. 1Components vs standalone nodes
  2. 2Composing at runtime and in launch
  3. 3Intra-process communication
Module 5 — QoS and DDS
  1. 1QoS profiles: reliability, durability, history
  2. 2Matching (and mismatching) QoS
  3. 3DDS discovery and tuning basics
Module 6 — Quality and testing
  1. 1Custom interfaces at scale
  2. 2Unit testing nodes
  3. 3Project: production-grade sensor-fusion package

Textbooks

Video resources

  • Executors, lifecycle, and composition talks — ROSCon talks