Course for beginners

ROS2 Basics for C++

Learn how to start working with ROS2

ROS2 Humble

Course Overview

ROS2 is finally here! This introductory course is intended not only for new ROS users, but also original ROS1 users that want to start with ROS2.

ROS2 adds a lot of new features that will get traction in the next year. This course will give you the basics for starting ROS2, more than the bells and whistles of ROS2 that are much more advanced topics and will be addressed in their respective specialized courses.

You will learn:

  • Creation of ROS2 packages
  • Management of the new Colcon universal building system.
  • Topic Publishers and Subscribers in ROS2 C++.
  • New Launch system based on python
  • Service servers and client generation for ROS2.
  • Basic use of ROS1-Bridge to communicate ROS2 systems with ROS1 systems.
  • Use of Debugging tools in ROS2.

Simulation Robots Used

MARA robot, Husky robot, TurtleBot robot, WAM Arm robot, BB-8, Parrot AR. Drone, Sphero robot


20 hours

What exercises will you be doing

TutleBot2 with wall in front

Move a Robot with ROS2

Execute a ROS2 program to control the TurtleBot

Launch ROS1-Bridge

Communicate between ROS1 & ROS2 with ros1_bridge

Visualize Complex data and RViz2

Learn the basic use of RViz2 debugging tool

Course Summary

Unit 1: Introduction

A brief introduction to the Course, including a demo.

10 min.

Unit 2: ROS2 Basic Concepts

An introduction to some ROS2 basic concepts like Nodes, packages, client libraries, etc…

1 hr.

Unit 3: ROS1 Bridge

How to use the ROS1 Bridge package to connect ROS1 with ROS2

1 hr.

Unit 4: ROS2 Topics Part1

An introduction to ROS2 topics: Publishers

1 hr.

Unit 5: ROS2 Topics Part2

An introduction to ROS2 topics: Subscribers

1 hr.

Unit 6: ROS2 Services Part1

An introduction to ROS2 Services: Client

1 hr.

Unit 7: ROS2 Services Part2

An introduction to ROS2 Services: Server

1 hr.

Unit 8: Debugging Tools

An introduction to ROS2 Services: Server

1 hr.

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