ROS2 Humble

⇒ Reason of ROS2 (T)

  • Understanding the motivation and objectives behind the development of ROS2.

⇒ Key Points (T)

  • Exploring key features and capabilities of ROS2 compared to ROS1.

⇒ Environment Setup (T/P)

  • Setting up the development environment for ROS2 on Ubuntu 22.04.

⇒ Builtin Features (T)

  • Overview of built-in features and functionalities of ROS2.

⇒ New architecture (T)

  • Introduction to the new architecture and design principles of ROS2.

⇒ Why DDS? and its Robustness and longevity! (T)

  • Explanation of Data Distribution Service (DDS) and its importance in ROS2 communication.

⇒ ROS2 Control (Brief Overview) (T)

  • Brief overview of ROS2 control mechanisms for robotic systems.

⇒ ROS2 Package Build (T/P)

  • Building ROS2 packages for developing and deploying ROS2 applications.

⇒ ROS2 URDF (T/P)

  • Working with Unified Robot Description Format (URDF) in ROS2 for robot modeling.

⇒ ROS2 TF (T/P)

  • Understanding ROS2 Transform Library (TF) for managing coordinate transforms.

⇒ ROS2 Topics (T/P)

  • Introduction to ROS2 topics for inter-node communication.

⇒ ROS2 Time (T/P)

  • Handling time-related operations in ROS2.

⇒ ROS2 Simulation (T/P)

  • Simulating ROS2 environments and robotic systems.

⇒ ROS2 Create Package (T/P)

  • Creating ROS2 packages for organizing and distributing ROS2 software.

ROS2 Nodes

⇒ ROS2 Nodes (T/P)

  • Understanding ROS2 nodes and their lifecycle in ROS2 applications.

⇒ ROS2 launch files (T)

  • Overview of ROS2 launch files for launching and configuring ROS2 nodes.

⇒ Create ROS2 Node (P)

  • Creating custom ROS2 nodes for specific tasks.

⇒ Create ROS2 Launch file (P)

  • Creating launch files for launching multiple ROS2 nodes simultaneously.

⇒ ROS2 Sensor Fusion (P)

  • Implementing sensor fusion techniques in ROS2 for perception tasks.

ROS2 Services

ROS2 Msgs

⇒ ROS2 Msgs (T/P)

  • Using ROS2 message types, creating custom messages, and debugging communication issues.

ROS2 Services

⇒ ROS2 Services (T/P)

  • Overview of ROS2 services, creating custom service types, setting up servers and clients, and handling requests.

ROS2 Services

ROS2 Actions

⇒ ROS2 Actions (T/P)

  • Introduction to ROS2 action servers, creating custom actions, implementing clients and servers, and handling feedback.

ROS2 Actions

ROS2 Parameters

⇒ ROS2 Parameters (T/P)

  • Explanation of ROS2 parameter server, managing parameters dynamically, and debugging issues.

⇒ Create ROS2 Parameter Loading (P)

  • Loading and using ROS2 parameters, persisting across launches, and using YAML for configuration.

ROS2 Parameters

ROS2 Navstack

⇒ Setup (P)

  • Setting up ROS2 Navigation Stack for autonomous robot navigation.

⇒ Mapping (P)

  • Mapping environments using ROS2 Navigation Stack.

⇒ Localization (P)

  • Localizing robots within mapped environments using ROS2 Navigation Stack.

⇒ Planner Tuning (P)

  • Tuning motion planners for efficient navigation using ROS2 Navigation Stack.

⇒ Custom Robot Integration (P)

  • Integrating custom robot hardware with ROS2 Navigation Stack.

⇒ Debugging (P)

  • Debugging and troubleshooting issues in ROS2 Navigation Stack.

⇒ Tools Usage (P)

  • Utilizing tools and utilities for ROS2 Navigation Stack development.

ROS2 Navigation Stack

ROS2 Perceptionstack

⇒ Lidar/Depth Camera Setups (T)

  • Setting up lidar/depth camera systems for perception tasks in ROS2.

⇒ Lidar/Depth Camera Configuration (T)

  • Configuring lidar/depth cameras for use in ROS2 perception tasks.

ROS2 Perception Stack

Personal experience

⇒ Issues faced

  • Sharing personal experiences and challenges encountered during ROS2 development.

⇒ Debugging

  • Strategies and techniques for debugging ROS2 software and robotic systems.

⇒ Tools Usage

  • Overview of useful tools and utilities for ROS2 development and debugging.