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Robot Operating System 2 – ROS2 – Fundamentals

Robot Operating System 2 – ROS2 – Fundamentals

Categories: All ROS1/ROS2 Courses
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About Course

What Will You Learn?

  • This course is crated by Dr. Aleksandar Haber who is the world-class expert in control, estimation, robotics, AI, and mechatronics. He was a professor at City University of New York and Rochester Institute of Technology. He was a Postdoctoral Fellow (Research Scientist) at Northwestern University. He has a PhD degree from Delft University of Technology (The Netherlands). Dr. Haber has more than 15 years of teaching experience at the reputable US and European universities. In addition to this, he has a significant number of publications in top engineering journals. His research was supported by NASA and Department of Defense.
  • This is a Robot Operating System 2 (ROS2) course that will teach you the fundamentals of ROS2 with a strong emphasis on practical applications.
  • First, you will learn the basics of the Linux command line so you can properly understand ROS2 and ROS2 commands.
  • Then, you will learn how to install ROS2 in Linux from scratch.
  • You will learn what are ROS2 nodes, topics, and how nodes communicate between each other.
  • You will learn how to write ROS2 nodes in Python.
  • You will learn how to send messages between nodes by using topics.
  • You will learn the basics of URDF robot CAD modeling in ROS2.
  • You will learn how to automatize and parametrize robot URDF modeling by using Xacro XML CAD modeling language.
  • You will learn how to write launch Python files for running ROS nodes and topics.
  • You will learn how to visualize robots in RViz.
  • You will learn how to build models of mobile robots and how to integrate them in ROS2 environment and Gazebo.

Course Content

Basics of the Linux command line
Before you start learning ROS2 you need to have a basics knowledge of the Linux command Line. These lessons will teach you the basics of the Linux command line. By learning the basics of the Linux command line, you will be able to follow other lessons in this course.

  • Create and edit folders and files; root and home folders
    15:11
  • Cat and echo commands and redirect operators > and >>
    11:41

Install ROS2 Operating System
Here, you will learn how to install ROS2 operating system and how to source the environment.

Install Anaconda and Spyder
This is a lesson explaining how to install Spyder Python editor together with Anaconda in Ubuntu Linux. In this course, we prefer to use Spyder Python editor. You can also edit Python files by using Gedit. Gedit is a lightweight Linux editor for quickly writing Python or C++ files. However, our experience shows that Gedit is not the best option for editing Python files. Consequently, we use Spyder. Spyder is a more professional development environment for typing Python code. If you prefer to use Spyder, this lessons will teach you how to install Anaconda and Spyder in Linux and Ubuntu.

Basics of ROS2 Graph Structure (Nodes and Topics) and Learn To Write Publisher/Subscriber Nodes in Python
In this set of lessons, you will learn 1.) What are ROS2 nodes. 2.) How ROS2 nodes communicate with each other by using topics. 3.) What are subscriber and publisher nodes. 4.) How to write a ROS2 package that implements the publisher and subscriber nodes from scratch in Python. 5.) How to obtain information about topics, nodes, messages, and how to visualize and interpret the ROS2 communication structure between the nodes.

Basics of URDF File Format For Robot CAD Modeling and Simulation

Using Xacro Macro Language to Simplify and Parametrize URDF Models

Build URDF/Xacro Model of Differential Drive Robot and Display it in RViz

Gazebo Simulation and Control of Differential Drive Robot

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