ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
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ros2_tutorial repositoryex01_first_package ex02_gazebo_simulation ex03_state_estimation ex04_actions ex04_msgs ex04_nav2_client ex05_behavior_trees ex05_bt_plugins |
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Repository Summary
| Checkout URI | https://github.com/uos/ros2_tutorial.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-03-12 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| ex01_first_package | 0.0.0 |
| ex02_gazebo_simulation | 0.0.0 |
| ex03_state_estimation | 0.0.0 |
| ex04_actions | 0.0.0 |
| ex04_msgs | 0.0.0 |
| ex04_nav2_client | 0.0.0 |
| ex05_behavior_trees | 0.0.0 |
| ex05_bt_plugins | 0.0.0 |
README
ros2_tutorial
ROS2 humble - Tutorials for the KBS robotics labs in wintersemester 2023/24; Osnabrück University. A computer is needed with:
- Ubuntu 22. Only native! Dual-boot is OK.
- ROS2 humble (see first tutorial)
All examples are implemented using C++ programming language. The course is at a very beginner level. In the end you will be able to let a robot autonomously drive from A to B as shown here:
ex01_first_package
- Learning ROS concepts
- Writing a simple subscriber and publisher
- Learning C++ and CMake by implementing subscribers and publishers in different ways
- Learn to use
vim - Environment variables,
.bashrc
ex02_gazebo_simulation
- Start a robot! Virtually
- More ROS packaging
- RViz2
- New message: LaserScan
- Transformations: Concept, Implementation
- New message: PointCloud2
- ROS2 parameters + remapping
- XML launch files
- Fun: Steer the robot
- New message: Twist
ex03_state_estimation
- Concept: State Estimation via
- Wheel Odometry
- IMU
- LiDAR
- Camera
- Fusion
- Kalman-Filter
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robot_localization-package
- Start a robot! In reality.
- Tool:
tmux - Mapping
- Maps
- SLAM
ex04_navigation
- Localization in given maps
- Nav2
- Actions: Interfaces, Servers, Clients
- Trigger Nav2 action servers via C++-Nodes
ex05_behavior_trees
!! Unfinished !!
- Overview: Deliberation Layer
- BehaviorTree.CPP
- Simple Behavior Tree
- Simple Behavior Tree with Groot monitor
- Writing Behavior Tree Plugins
TODOs:
- Editing/creating trees using Groot
- Using the Blackboard
More TODOs in ex05 README.
Information for Teachers
Further information for teachers: Click here.
CONTRIBUTING
No CONTRIBUTING.md found.
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