ROS2 Humble

⇒ Reason of ROS2 (T)

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

⇒ Key differences (T)

  • Exploring key differences between ROS1 and 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)

  • Building ROS2 packages for developing and deploying ROS2 applications.

⇒ ROS Bridge (T)

  • Understanding ROS Bridge for communication between ROS1 and ROS2.

⇒ ROS2 Simulation (P)

  • Simulating ROS2 environments and robotic systems.

⇒ ROS2 Create Package (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.

ROS1_ROS2 Nodes

ROS2 Launch Files

⇒ 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 Parameters

_images/r1r2.png

⇒ Item Differences (T)

  • Discussing differences in ROS2 parameters, messages, services, and action servers compared to ROS1.

⇒ ROS2 Parameters (T/P)

  • Explanation of ROS2 parameter server and usage of parameters in ROS2 nodes.

⇒ Create ROS2 Parameter Loading (P)

  • Loading and using ROS2 parameters in ROS2 nodes.

ROS2 Msgs

⇒ ROS2 Messages (T/P)

  • Understanding the structure and use of messages in ROS2.

⇒ Creating Custom Messages (P)

  • Defining and implementing custom message types for ROS2 applications.

⇒ Message Communication (T/P)

  • Exploring message passing between ROS2 nodes and ensuring efficient data exchange.

ROS2 Services

⇒ ROS2 Services (T/P)

  • Overview of services in ROS2 and their role in synchronous communication.

⇒ Creating Custom Services (P)

  • Defining and implementing custom services for specific tasks in ROS2.

⇒ Service Communication (T/P)

  • Setting up and handling service requests and responses between ROS2 nodes.

ROS2 Services

ROS2 Actions

⇒ ROS2 Actions (T/P)

  • Understanding the concept of actions in ROS2 and their use in handling long-running tasks.

⇒ Creating Custom Actions (P)

  • Defining and implementing custom action types for ROS2 applications.

⇒ Action Communication (T/P)

  • Implementing action clients and servers to handle goals, feedback, and results.

ROS2 Actions

ROS2 Navstack

⇒ Differences (T)

  • Exploring differences between ROS1 and ROS2 navigation stacks.

⇒ 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 Pitfalls

⇒ 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.