ROS2 Resources

Understanding the design

• https://design.ros2.org/
• https://www.theconstructsim.com/ros2-in-5-mins-003-where-is-roscore-in-ros2/

Building and Managing Packages

• https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html
• https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html#writing-a-simple-publisher-and-subscriber-python
• ROS Client Library for Python Docs: https://docs.ros2.org/latest/api/rclpy/index.html

Simulation

• SDF Format Specs: http://sdformat.org/spec
• ROS2 Migration Examples: https://github.com/ros-simulation/gazebo_ros_pkgs/wiki
• Good example tutorial for making launch files and model sdf's: https://automaticaddison.com/how-to-simulate-a-robot-using-gazebo-and-ros-2/
• Example project for simulating a moon environment: https://github.com/FlaSpaceInst/ezrassor_sim_gazebo
• Building Rover Skid Steer Model
  • Example Project: https://github.com/bunchofcoders/basic_bocbot/tree/gazebo_bringup
  • Plugin Notes: https://github.com/ros-simulation/gazebo_ros_pkgs/wiki/ROS-2-Migration:-Skid-Steer-drive