Courses / fundamentals

Robot Operating System (ROS 2) Basics

beginner~25 hours26 lessonsEnvironment: docker

Prerequisites: linux, python3, git, docker-for-robotics

Start: What ROS 2 is (and isn't)Practice questions

Modules

Module 1 — Meet ROS 2
  1. 1What ROS 2 is (and isn't)
  2. 2Sourcing, ros2 CLI, and turtlesim
  3. 3The ROS graph: nodes and topics conceptually
Module 2 — Nodes and topics
  1. 1Writing your first node (rclpy)
  2. 2Publishers
  3. 3Subscribers
  4. 4Messages and interface types
  5. 5ros2 topic CLI mastery
Module 3 — Services
  1. 1Request/response vs streaming
  2. 2Writing a service server
  3. 3Writing a service client
Module 4 — Actions
  1. 1Long-running goals with feedback
  2. 2Action servers
  3. 3Action clients
Module 5 — Parameters and launch
  1. 1Node parameters
  2. 2Launch files (Python)
  3. 3YAML configs
  4. 4Namespaces and remapping
Module 6 — Workspaces and packages
  1. 1colcon workspaces
  2. 2Creating a Python package
  3. 3Dependencies with package.xml and rosdep
  4. 4Custom message and service definitions
Module 7 — Tools and debugging
  1. 1rqt_graph and introspection
  2. 2Logging
  3. 3Bag recording and playback
  4. 4Project: multi-node teleop-and-monitor system

Textbooks

Video resources

  • Getting started with ROS — Articulated Robotics