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教學

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 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)

Intermediate

• Creating an action
• Writing an action server and client (C++)
• Writing an action server and client (Python)
• Launching/monitoring multiple nodes with Launch
• Composing multiple nodes in a single process
• Using colcon to build packages

Advanced

• Implement a custom memory allocator

Miscellaneous

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

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]

• MoveIt 2 demo using ROS 2.

• Using tf2 with ROS 2.

• 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.

Examples

• Python and C++ minimal examples.