ROS2 Tutorial

This repository contains code and examples from the ROS2 course by Edouard Renard on Udemy, with some personal additions and modifications.

Overview

This repository is organized around the ROS2 workspace named "ros2_ws" created at the beginning of the course. It includes various packages and code examples covering different aspects of ROS2 development.

Prerequisites

Before using the code in this repository, make sure you have the following prerequisites installed:

• ROS2 Foxy Fitzroy or later version
• CMake
• Python 3
• Colcon build tool
• Any additional dependencies mentioned in the individual package README files

Setup

To use the code in this repository, follow these steps:

1. Create a ROS2 workspace (e.g. "ros2_ws")

   mkdir ros2_ws
   

2. Navigate to the "ros2_ws" directory:

   cd ~/ros2_ws
   

3. Clone the repository to your workspace:

   git clone https://github.com/SvenThorkildsen/ROS2-tutorial.git
   

4. Remove the build and install folders:

   rm -rf ~/ros2_ws/build/*
   rm -rf ~/ros2_ws/install/*
   

5. Build the ROS2 workspace using colcon:

   colcon build
   

6. Source the setup.bash file:

   source install/setup.bash
   

Contents

The repository contains the following packages and examples:

• my_cpp_pkg: Nodes written in C++.
• my_py_pkg: Nodes written in Python.
• my_robot_bringup: Launch files.
• my_robot_interfaces: Contains custom formats for messages and services.
• turtlesim_catch_them_all: Turtlesim project to conclude the first part of the course ROS2 For Beginners.

Usage

To run the examples or use the packages in this repository, follow the instructions provided in the respective README files of each package.

Contributing

Contributions to this repository are welcome! If you have any improvements, bug fixes, or new examples to add, feel free to submit a pull request.

License

This code is provided under the MIT License.

Acknowledgments

• Edouard Renard for the ROS2 course on Udemy.
• Contributors to the ROS2 project for their work on the ROS2 framework.