P#1 ROS2 Multi TurtleSim Driving with Launch Files Services

Description This course offers a comprehensive guide to mastering the Turtlesim Package within the ROS2 framework. Through a series of hands-on tutorials and real-world examples, you’ll gain a deep understanding of ROS2 nodes, launch files, RQT graphs, and much more. The course is designed to equip you with the skills needed to develop and manage ROS2-based projects effectively.

Learning Outcomes:

  • Gain a foundational understanding of the ROS2 framework, focusing on nodes and launch files.
  • Learn how to set up a ROS2 workspace and create packages using Visual Studio Code.
  • Understand the architecture and file system of ROS2 projects.
  • Acquire hands-on experience in running ROS2 nodes through terminal commands and launch files.
  • Explore message and topic functionalities in Turtlesim.
  • Master the use of services and parameters in ROS2.
  • Develop multi-robot systems with varying speeds and functionalities.

Software Requirements:

  • Ubuntu 22.04
  • ROS2 (Humble)
  • Visual Studio Code with ROS extension
  • Turtlesim Package
  • Terminal (bash or zsh)
  • RQT Graphs

Background Knowledge:

  • Basic understanding of programming concepts (preferably in C++ or Python)
  • Familiarity with terminal commands
  • Basic knowledge of robotics and simulation environments would be beneficial but not mandatory

Setup and Running Phase

ROS2 Humble and Vscode installation
Course Introduction and Resources
Multi Turtlesim racing project overview
ROS2 software development workflow
Software Setup
5 questions

Testing Phase

What is a testing Phase
Exploring package and its files

Development Phase

Creating Workspace and driving Robot
Robot driving node

Writing a C++ for Driving Our Robot

Services and Launch Files
Topics Nodes and Launch Files
7 questions
Concept of Parameters in ROS2
Multi-Robot namespaces
Multi Robot Launch Files ( 3 launch files are reffered here in questions from "drive_turtle" package )
9 questions

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Enrolled: 66 students
Lectures: 11
Level: Beginner
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