Welcome to the ROS 2 workshop!

Training slides

1. Getting Started

• Installation and prerequisites — prepare Ubuntu, ROS 2, and the required packages.

• Linux and terminal basics and Terminator — work efficiently from the command line.

• Networking — configure and verify communication between ROS 2 systems.

• Git and vcstool and Docker — manage source repositories and containerized environments.

2. ROS 2 Basics

• Command-line and GUI tools: ROS 2 CLI and Turtlesim and rqt.

• Workspaces, packages, and launch files: ROS 2 file system and launch files.

• Python nodes: publishers and subscribers and services.

• Data and debugging: rosbag and PlotJuggler, logging, and the VS Code Python debugger.

• Robot transforms with TF2.

• Reference material: cheat sheet, GitHub examples, and training scripts.

3. ROS 2 Navigation

• TurtleBot 3 — set up and operate the mobile robot.

• Cartographer — create maps with SLAM.

• Navigation — localize the robot and navigate autonomously.

4. ROS 2 Manipulation

• Robot Description — learn URDF, build a Cartesian robot with Xacro, and combine robot and gripper models.

• MoveIt — understand the architecture, create configurations for manipulators and grippers, explore Yaskawa and AgileX examples, and control MoveIt from Python.

5. ROS 2 Control

• Basic control examples: RRBot and DiffBot.

• Hardware interfaces and sensors: multiple interfaces and external sensor integration.

• Integrated robots: WBot mobile manipulation and tricycle robot control.