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教學

Beginner

The beginner-level tutorials are a collection of step-by-step instructions meant to introduce newcomers to ROS 2. It starts with using the Commandline Interface (CLI) tools, then moves on to the C++ and Python client libraries. Please walk through the tutorials for the first time in order, they build off of each other and are not meant to be comprehensive documentation.

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

Intermediate

• Creating an action
• Writing an action server and client (C++)
• Writing an action server and client (Python)

Working With Your First Package & Workspace

• Developing a ROS 2 package
• Using colcon to build packages
• ament_cmake 使用者文件

Learning the ROS 2 Toolset

• Launching/monitoring multiple nodes with Launch
• Passing ROS arguments to nodes via the command-line
• Introspection with command line tools
• Overview and usage of RQt
• Composing multiple nodes in a single process
• Overriding QoS Policies For Recording And Playback

Advanced

• Synchronous vs. asynchronous service clients
• Working with multiple ROS 2 middleware implementations
• On the mixing of ament and catkin (catment)
• 交叉編譯
• Implement a custom memory allocator
• Releasing a ROS 2 package with bloom

Windows Tutorials

• Porting RQt plugins to Windows

Using Docker

• Running 2 nodes in a single docker container [community-contributed]
• Running 2 nodes in 2 separate docker containers [community-contributed]
• ROS2 on IBM Cloud Kubernetes [community-contributed]

Miscellaneous

• Migrating launch files from ROS 1 to ROS 2
• 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]
• Migrating YAML parameter files from ROS 1 to ROS 2

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.

• Using URDF with robot_state_publisher.

• 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.