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Robot Operating System 2 (ROS 2) Tutorials

Welcome to the ROS 2 Tutorials repository! This project aims to provide a comprehensive set of tutorials for learning ROS 2, covering topics from beginner to advanced levels. Whether you're just getting started with ROS 2 or looking to deepen your knowledge, this repository will guide you through various concepts, tools, and best practices.

Table of Contents

1. Introduction
2. Getting Started
3. Tutorials Overview
   • Beginner Level
   • Intermediate Level
   • Advanced Level
4. Contributing
5. License

Introduction

Robot Operating System 2 (ROS 2) is a powerful framework for developing robot software, providing the necessary tools, libraries, and conventions to develop robot applications quickly and efficiently. This repository is designed to offer structured tutorials and examples that will help you learn ROS 2 step-by-step.

Getting Started

To get started with these tutorials, you should have ROS 2 installed on your system. We recommend using ROS 2 Humble Hawksbill or a later version. Installation guides for ROS 2 can be found on the official ROS 2 documentation site.

Prerequisites

• Basic understanding of programming (preferably in Python and/or C++).
• Familiarity with Linux-based systems (Ubuntu is recommended).
• ROS 2 installed on your system (installation instructions).

Tutorials Overview

Beginner Level

The beginner tutorials will cover the fundamentals of ROS 2 and provide a solid foundation for understanding the core concepts. Topics include:

• Installing ROS 2: Step-by-step guide to installing ROS 2.
• ROS 2 Basics: Nodes, topics, services, and parameters.
• Writing Your First Node: Creating a simple publisher and subscriber in Python and C++.
• Using ROS 2 Tools: Introduction to rviz2, gazebo, rqt, and other essential ROS 2 tools.
• Building and Running Packages: Using colcon to build and manage ROS 2 packages.

Intermediate Level

These tutorials will dive deeper into ROS 2 features and tools, covering more complex tasks and projects.

• Action Servers and Clients: Implementing action-based communication.
• Using tf2 for Transformations: Working with the transform library.
• Robot Simulation: Setting up and using Gazebo for robot simulation.
• MoveIt 2 for Motion Planning: Using MoveIt for robotic arm control.
• ROS 2 Parameters and Configuration: Advanced parameter usage and dynamic reconfiguration.

Advanced Level

The advanced tutorials will tackle complex topics and real-world robotic applications.

• Custom Message Types: Creating and using custom messages and services.
• Multirobot Communication: Setting up communication between multiple robots.
• Optimizing Performance: Techniques for optimizing ROS 2 performance and latency.
• Security in ROS 2: Implementing ROS 2 Security features.
• Building Complex Simulations: Advanced Gazebo and simulation setups.
• Integrating Machine Learning with ROS 2: Using AI and ML for robotic perception and decision-making.

Contributing

Contributions are welcome! If you have suggestions for improvements, new tutorials, or any issues to report, please open an issue or submit a pull request.

How to Contribute

1. Fork the repository.
2. Create a new branch for your feature or bugfix.
3. Commit your changes and push your branch to GitHub.
4. Open a pull request with a detailed description of your changes.

License

This project is licensed under the MIT License - see the LICENSE file for details.

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