ROS MODULE
This module gives a basic introduction into Robot Operating System 2 (ROS2). ROS 2 is a widely used robotic framework which provides different functionalities and means for their interaction within robot systems. IN five submodules, we will introduce general aspects of the ROS2 environment for developing applications and how to distribute relevant information across different robot components. In the final module, we will introduce two widely used simulators that allow to develop applications independent of physical hardware.
Open Access Educcation pilot
Lesson Description
Introduction (Lesson 1): We provide information about the history of ROS, its application domains and version coupling between ROS versions and Ubuntu distributions.
Keywords: History, version coupling
Programming Environment (Lesson 2): We introduce the ROS workspace, explain how to build own software modules by means of packages.
Keywords: Workspace, Build system, packages
Running applications (Lesson 3): This lesson describes addresses teh realization of applications based on ROS modules and the launching of multiple ROS nodes using launch files. This includes the definition of parameters used by ROS-nodes and the use of RVIZ visualizing runtime systems.
Keywords: Launch files, parameters, RVIZ
Communication between nodes (Lesson 4): This modules adresses different communication schemes for interfacing ROS-nodes using synchronous or asynchronous communication strategies:
Keywords: topics, services, actions, DDS, QoS
Simulation (Gazebo / Mujoco) (Lesson 5): This module adresses the use of the two popular simulation frameworks: Gazebo and Mujoco which allow to develop robot applications without physical hardware.
Outro (Lesson 6): The main content and learning goals are summarized.
Keywords: summary, learning goals
Learn more
Contact Ernest for more information