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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

1
ROS2 Humble and Vscode installation
2
Course Introduction and Resources
3
Multi Turtlesim racing project overview
4
ROS2 software development workflow
5
Software Setup
5 questions

Testing Phase

1
What is a testing Phase
2
Exploring package and its files

Development Phase

1
Creating Workspace and driving Robot
2
Robot driving node

Writing a C++ for Driving Our Robot

3
Services and Launch Files
4
Topics Nodes and Launch Files
7 questions
5
Concept of Parameters in ROS2
6
Multi-Robot namespaces
7
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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