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:

ex01_first_package

• 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

ex02_gazebo_simulation

• 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

ex03_state_estimation

• Concept: State Estimation via
  • Wheel Odometry
  • IMU
  • LiDAR
  • Camera
• Fusion
  • Kalman-Filter
  • robot_localization-package
• Start a robot! In reality.
• Tool: tmux
• Mapping
  • Maps
  • SLAM

ex04_navigation

• Localization in given maps
• Nav2
• Actions: Interfaces, Servers, Clients
• Trigger Nav2 action servers via C++-Nodes

ex05_behavior_trees

!! 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.