ROS 2 Fundamentals
Welcome to the ROS 2 Fundamentals module. This module will teach you the core concepts of Robot Operating System 2, including nodes, topics, services, and actions.
Learning Outcomes​
By the end of this module, you will be able to:
- Understand the ROS 2 architecture and design philosophy
- Create and manage ROS 2 nodes
- Implement publishers and subscribers for topic communication
- Use services and actions for synchronous and asynchronous communication
- Work with parameters and lifecycle nodes
Prerequisites​
- Basic programming knowledge (Python preferred)
- Familiarity with command line operations
- Understanding of basic software engineering concepts
Module Content​
Chapter 1: Introduction to ROS 2​
Learn about ROS 2's history, design goals, and how it differs from ROS 1.
Chapter 2: ROS 2 Workspace Setup​
Set up your development environment with Colcon and Docker.
Chapter 3: Creating Your First Node​
Write your first ROS 2 node using Python.
Chapter 4: Topic Communication​
Implement publisher-subscriber patterns for inter-node communication.
Chapter 5: Services and Actions​
Learn about request-response and task-based communication patterns.
Assessment​
Complete the chapter assessments to test your understanding of ROS 2 fundamentals.