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教程

教程是一组循序渐进的指导，旨在稳步构建 ROS 2 中的技能。

阅读教程的最佳方法是第一次按顺序浏览它们，因为它们是相互构建的，并不意味着是全面的文档。

关于更多具体问题的快速解决方案，请参阅 How-to Guides。

初学者

初学者：CLI 工具

• 配置 ROS 2 环境
• 介绍 turtlesim 和 rqt
• 理解 ROS2 节点
• 理解 ROS 2 主题
• 理解 ROS2 服务
• 理解 ROS2 参数
• 理解 ROS 2 的行为
• 使用 rqt_console
• 创建 launch 文件
• 记录和回放数据

初学者：客户端库

• 创建工作区
• 创建你的第一个 ROS 2 包
• 编写一个简单的发布者和订阅者（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++)

中级水平

• 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
• 使用 colcon 构建包
• Monitoring for parameter changes (C++)
• tf2 Tutorials
• URDF Tutorials

高级水平

• 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)

杂项

• 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

演示文稿

• 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.

• Use DDS-Security.

• Logging and logger configuration.

范例

• Python and C++ minimal examples.