ROS2 Introduction

ROS2 is a framework we use to build the rover's software. Think of a rover, it has many different programs: it has to move, to see, to track, to grab and so on. ROS2 simplifies the communication aspect of the different programs talking to on another. It adds overhead, but makes it easier to code robotic software as ROS2 also comes with many CLI tools to help with simulation, debugging, logging as well as many different packages (with strong community support) to solve many robotics problems.

ROS2 Fundamentals

• ROS Basics
• ROS2 Services
• ROS2 Actions
  • Topics vs Services vs Actions
• Launch Files
• Workspace Structure
• ROS2 DDS
• ROS2 CLI Tools

ROS2 Testing

• GTest in ROS2 (C++)
• Pytest in ROS2 (Python)

Packages

• image_transport
• tf2