ros2_tutorial
ROS2 humble - Tutorials for the KBS robotics labs in wintersemester 2023/24; Osnabrück University. A computer is needed with:
- Ubuntu 22. Only native! Dual-boot is OK.
- ROS2 humble (see first tutorial)
All examples are implemented using C++ programming language. The course is at a very beginner level. In the end you will be able to let a robot autonomously drive from A to B as shown here:
![Ceres Robot Nav](https://github.com/uos/ros2_tutorial/raw/main/media/ceres_vid_preview.png)
- Learning ROS concepts
- Writing a simple subscriber and publisher
- Learning C++ and CMake by implementing subscribers and publishers in different ways
- Learn to use
vim
- Environment variables,
.bashrc
- Start a robot! Virtually
- More ROS packaging
- RViz2
- New message: LaserScan
- Transformations: Concept, Implementation
- New message: PointCloud2
- ROS2 parameters + remapping
- XML launch files
- Fun: Steer the robot
- New message: Twist
- Concept: State Estimation via
- Wheel Odometry
- IMU
- LiDAR
- Camera
- Fusion
- Kalman-Filter
robot_localization
-package
- Start a robot! In reality.
- Tool:
tmux
- Mapping
- Localization in given maps
- Nav2
- Actions: Interfaces, Servers, Clients
- Trigger Nav2 action servers via C++-Nodes
!! Unfinished !!
- Overview: Deliberation Layer
- BehaviorTree.CPP
- Simple Behavior Tree
- Simple Behavior Tree with Groot monitor
- Writing Behavior Tree Plugins
TODOs:
- Editing/creating trees using Groot
- Using the Blackboard
More TODOs in ex05 README.
Information for Teachers
Further information for teachers: Click here.