ROS 2 Fundamentals in Python

This course offers an intensive, hands-on introduction to Robot Operating System 2 (ROS 2) for those interested in robotics programming. Designed as six two-hour sessions, the course provides a solid foundation in ROS 2, its tools, and core concepts using Python. Starting with an overview of ROS 2, its advantages, and differences from ROS 1, you'll learn about the architecture, components, and workspace setup. The course covers practical experience creating and working with ROS 2 concepts, such as nodes, topics, services, actions, and parameters. You'll explore Quality of Service (QoS) policies, ensuring reliability and performance in node communication. Services and actions, which allow nodes to request information or actions from other nodes, are also covered. You'll learn how to create and use service servers, clients, action servers, and clients in Python. Additionally, the course delves into parameters for storing configuration data and the TF library for handling transformations between coordinate frames. Finally, you'll apply the concepts to design and create a custom robot model, implement control, process sensor data, and visualize the robot using Rviz2. By the end of the course, you'll have a thorough understanding of ROS 2 and the skills to develop simple robotic applications.