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Tutorials

The tutorials are a collection of step-by-step instructions meant to steadily build skills in ROS 2.

The best way to approach the tutorials is to walk through them for the first time in order, as they build off of each other and are not meant to be comprehensive documentation.

For quick solutions to more specific questions, see the How-to Guides.

Beginner

Beginner: CLI Tools

• Configuring your ROS 2 environment
• Introducing turtlesim and rqt
• Understanding ROS 2 nodes
• Understanding ROS 2 topics
• Understanding ROS 2 services
• Understanding ROS 2 parameters
• Understanding ROS 2 actions
• Using rqt_console
• Creating a launch file
• Recording and playing back data

Beginner: Client Libraries

• Creating a workspace
• Creating your first ROS 2 package
• Writing a simple publisher and subscriber (C++)
• Writing a simple publisher and subscriber (Python)
• Writing a simple service and client (C++)
• Writing a simple service and client (Python)
• Creating custom ROS 2 msg and srv files
• Expanding on ROS 2 interfaces
• Using parameters in a class (C++)
• Using parameters in a class (Python)
• Getting started with ros2doctor
• Creating and Using Plugins (C++)

Intermediate

• Creating an action
• Writing an action server and client (C++)
• Writing an action server and client (Python)
• Launching/monitoring multiple nodes with Launch
• Using ROS 2 launch for large projects
• Using substitutions in launch files
• Using event handlers in launch files
• Composing multiple nodes in a single process
• Using colcon to build packages
• Monitoring for parameter changes (C++)
• tf2 Tutorials
• URDF Tutorials

Advanced

• ROS 2 Topic Statistics Tutorial (C++)
• Using Fast DDS Discovery Server as discovery protocol [community-contributed]
• Implement a custom memory allocator
• Unlock all the potential of Fast DDS as ROS 2 middleware [community-contributed]
• Recording a bag from your own node (C++)
• Recording a bag from your own node (Python)

Simulation

• Setting-up a Robot Simulation (Webots)

Security

• Introducing ROS 2 Security
• Understanding the ROS 2 Security Keystore
• Security Across Two Machines
• Examine Network Traffic
• Security Access Controls

Miscellaneous

• ROS2 on IBM Cloud Kubernetes [community-contributed]
• Eclipse Oxygen with ROS 2 and rviz2 [community-contributed]
• Building realtime Linux for ROS 2 [community-contributed]
• Building ROS 2 Package with eclipse 2021-06

Demos

• Use quality-of-service settings to handle lossy networks.

• Management of nodes with managed lifecycles.

• Efficient intra-process communication.

• Bridge communication between ROS 1 and ROS 2.

• Recording and playback of topic data with rosbag using the ROS 1 bridge.

• Turtlebot 2 demo using ROS 2.

• TurtleBot 3 demo using ROS 2. [community-contributed]

• Simulate the TurtleBot 3 on ROS [community-contributed].

• Navigate TurtleBot 3 in simulation. [community-contributed]

• SLAM with TurtleBot3 in simulation. [community-contributed]

• MoveIt 2 arm motion planning demo.

• Write real-time safe code that uses the ROS 2 APIs.

• Use the robot state publisher to publish joint states and TF.

• Logging and logger configuration.

Examples

• Python and C++ minimal examples.