ROS2_Tutorial

Prerequistes

This repo assumes the user is on a Linux system and has ROS1 and ROS2 installed on their machine.

To install ROS1 follow the instructions here.

To install ROS2 follow the instructions here.

Tutorial Files

You can follow the tutorial here.

Installation

Clone the repo:

cd ~
git clone https://github.com/FilipHesse/ROS2_Tutorial.git --recurse-submodules

Build the packages inside ros1_ws:

cd ~/ROS2_Tutorial/ros1_ws
source /opt/ros/<ros1_distro>/setup.bash
catkin_make
catkin_make_isolated --install

Build the packages inside ros1_ws:

cd ~/ROS2_Tutorial/ros2_ws
source /opt/ros/<ros2_distro>/setup.bash
colcon build --symlink-install

Build the ros1_bridge package inside bridge_ws:

cd ~/ROS2_Tutorial
source /opt/ros/<ros1_distro>/setup.bash
source /opt/ros/<ros2_distro>/setup.bash
source ros1_ws/install_isolated/setup.bash
source ros2_ws/install/local_setup.bash
cd bridge_ws
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure

Covered Subjects:

1. Introduction
2. ROS2 Basic Elements
3. ROS2 Application Management
4. Hands on: Create a basic Publisher and Subscriber
5. Building and compiling nodes
6. ROS Bridge
7. Real Time
8. SROS

Authors

• Roberto Canale: roberto.canale.work@gmail.com
• Filip Hesse: filip_hesse@yahoo.de
• Justin Lee: leej1996@gmail.com
• Daniel Nieto: danieto98@gmail.com
• Steven Palma: imstevenpm.study@gmail.com
• Josep Rueda: rueda_999@hotmail.com