ROS2 Fundamentals Training in Marina Bay, Singapore

This course introduces participants to the fundamentals of Robot Operating System 2 (ROS2). It covers the core concepts, architecture, and practical usage of ROS2 for building robotic applications. Learners will gain hands-on experience in creating ROS2 packages, working with nodes

Introduction and ROS2 Basics

Module 1: Introduction to ROS2

• What is ROS and why ROS2
• Key features and differences from ROS1
• ROS2 architecture and design principles

Module 2: Setting Up ROS2

• ROS2 distributions and compatibility
• Installing ROS2 on Ubuntu
• Environment setup and configuration

Module 3: Workspaces and Packages

• Understanding workspaces and overlays
• Creating and building ROS2 packages
• Package structure and conventions

Module 4: Writing First Nodes

• Introduction to ROS2 nodes
• Writing publisher and subscriber nodes in Python
• Running nodes using ROS2 CLI

Communication and Configuration

Module 5: ROS2 Topics

• Publish/Subscribe communication model
• Creating custom messages
• Exploring topics with ROS2 CLI tools

Module 6: Services and Actions

• Difference between services and actions
• Implementing service servers and clients
• Actions for long-running tasks

Module 7: Parameters and Launch Files

• Using parameters in ROS2 nodes
• Dynamic parameter updates
• Writing and running launch files

Tools, Simulation and Project

Module 8: Visualization and Debugging Tools

• Using RViz2 for visualization
• Introduction to rqt plugins
• Debugging with ros2 doctor, ros2 bag, ros2 topic echo

Module 9: Simulation with Gazebo

• Introduction to Gazebo simulator
• Running a robot simulation in ROS2
• Interfacing nodes with simulated robots

Module 10: Hands Exercises

Module 11: Closing Session

• Review of key concepts
• Assessment discussion
• Course feedback and next learning steps