8_0_ROS2.md

ROS2

This page is to step into the ROS2's world.

Development envrionmen

• Ubuntu 20.04
• ROS2 foxy

0. ROS2 VS ROS

Understand ROS2 with comparation with ROS

1. Install ROS2

How to install ROS2 Foxy

2. Configure ROS2 workspace

Configure ROS2 workspace

3. Examples of Publisher and Subscriber in C++

Simple examples for publisher and subscriber

TODO:

• https://automaticaddison.com/ros-2-tutorials-foxy-fitzroy/
• https://www.youtube.com/watch?v=Gg25GfA456o&ab_channel=RoboticsBack-End
• https://www.youtube.com/playlist?list=PLRE44FoOoKf7NzWwxt3W2taZ7BiWyfhCp
• https://fishros.com/d2lros2/#/humble/chapt1/advanced/2.%E4%B8%AD%E9%97%B4%E4%BB%B6DDS%E6%9E%B6%E6%9E%84
• https://zhuanlan.zhihu.com/p/423581728
• https://mp.weixin.qq.com/s?__biz=MzkzMzI2MTU2Nw==&mid=2247484345&idx=1&sn=b5b5e0cedadacc085030eca33c3ccc47&chksm=c24e7a29f539f33f6f934c8b58ec37775f66550c6c459532f7a267579bc72d464a3d1d064e26&cur_album_id=1961689564104720387&scene=189#wechat_redirect
• https://osrf.github.io/ros2multirobotbook/ros2_tools_resources.html
• https://github.com/osrf/icra2023_ros2_gz_tutorial
• https://github.com/osrf/vehicle_gateway
• http://www.uml.org.cn/modeler/202110131.asp

Creat own lib in ROS2

How to create and use your own C++ Library with ROS2, https://youtu.be/S7AjhNKHpvs

Reference

1. Install ROS2 Along With ROS1 | Foxy | Noetic | Simple ROS2 Tutorial | 2022 https://www.youtube.com/watch?v=CtW7Cqzeb8o&ab_channel=HarshMittal
2. Olivier Kermorgant, http://pagesperso.ls2n.fr/~kermorgant-o/teaching.html#C++_programming
3. Using colcon to build packages https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html?highlight=colcon