ROS 2 Workspace Adventure ✨

A comprehensive ROS 2 learning workspace containing source code, experiments, documentation, and tools for robotics development and exploration.

📋 Overview

This repository serves as a personal ROS 2 workspace for storing and organizing various robotics projects, learning materials, and experimental implementations. It follows the standard ROS 2 workspace structure and is designed to evolve continuously as new projects, improvements, and solutions are developed.

Purpose

• Source Code: ROS 2 scripts, nodes, and packages for robotics projects
• Experiments & Tests: Test cases and example implementations for verifying package functionality
• Documentation: Guides, tutorials, and configuration notes for ROS 2 development
• Utilities: Helper scripts and tools to streamline development workflows and task automation

📁 Workspace Structure

ros2_ws_adventure/
├── src/                    # ROS 2 packages directory
│   ├── package_1/
│   ├── package_2/
│   └── ...
└── README.md              # This file

Each package in the src/ directory contains the actual ROS 2 code organized by functionality and purpose.

🚀 Quick Start

Prerequisites

• ROS 2 installed (Humble, Iron, or Jazzy recommended)
• Python 3.9+ or C++ build tools depending on package implementations
• Git for version control

Installation & Setup

1. Clone the repository:

   git clone https://github.com/richy-gs/ros2_ws_adventure.git
   cd ros2_ws_adventure

2. Install dependencies:

   rosdep install --from-paths src --ignore-src -r -y

3. Build the workspace:

   colcon build

4. Source the workspace:

   source install/setup.bash

💡 Usage Examples

Building a Specific Package

colcon build --packages-select <package_name>

Running a Node

ros2 run <package_name> <node_name>

Launching a Launch File

ros2 launch <package_name> <launch_file>.launch.py

Viewing the ROS 2 Graph

rqt_graph

📚 Learning Resources

• Official ROS 2 Documentation
• ROS 2 Tutorials

⚙️ Common Commands

Command	Purpose
colcon build	Build all packages in the workspace
ros2 node list	List all active ROS 2 nodes
ros2 topic list	List all active topics
ros2 service list	List all available services
ros2 interface show <interface>	Display interface details

🔧 Troubleshooting

• Build failures: Ensure all dependencies are installed with rosdep install
• Source not found: Make sure to source the setup script after building
• Node not found: Verify the package is built and the node name is correct
• Topic/Service errors: Use ros2 topic list and ros2 service list to debug

👤 Author

Ricardo García - @richy-gs

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Last Updated: October 2025

Happy ROS 2 learning! 🚀