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ROS2 For Beginners
1. Intro
1.1 Welcome! (3:11)
1.2 What is ROS2, When to use it, and Why? (6:47)
1.3 How to get the most out of this course
2. Install ROS2 and Setup Your Environment
2.1 Intro
2.2 Which ROS2 Distribution to Use (4:38)
2.3 Install Ubuntu 22.04 on a Virtual Machine (VirtualBox) (17:24)
2.4 Programming Tools I Will Use During This Course (3:44)
2.5 Install ROS2 Humble on Ubuntu 22.04 (4:58)
2.6 Setup Your Environment For ROS2 (2:16)
2.7 Launch a ROS2 Program! (2:48)
2.8 Section Conclusion
3. Write your First ROS2 Program
3.1 Intro
3.2 Install the ROS2 build tool - Colcon (2:19)
3.3 Create a ROS2 Workspace (4:08)
3.4 Create a Python Package (5:57)
3.5 Create a C++ Package (4:08)
3.6 What is a ROS2 Node? (7:35)
3.7 Write a Python Node - Minimal Code (14:57)
3.8 Write a Python Node - With OOP (7:46)
3.9 Write a C++ Node - Minimal Code (13:36)
3.10 Write a C++ Node - With OOP (9:44)
3.11 OOP Template For Your Nodes
3.12 More about the ROS2 Client Libraries for Different Languages (2:31)
3.13 Section Conclusion
4. Introduction to ROS2 tools
4.1 Intro
4.2 Debug and Monitor Your Nodes With ros2 cli (9:57)
4.3 Rename a Node at Runtime (6:02)
4.4 Colcon (5:00)
4.5 rqt and rqt_graph (3:48)
4.6 Discover Turtlesim (4:53)
4.7 Activity 001 - ROS2 Nodes and Tools
4.8 Activity 001 - Solution (4:25)
4.9 Section Conclusion
5. ROS2 Topics - Make Your Nodes Communicate Between Each Other
5.1 Intro
5.2 What is a ROS2 Topic? (9:00)
5.3 Write a Python Publisher (18:20)
5.4 Write a Python Subscriber (9:36)
5.5 Write a C++ Publisher (17:11)
5.6 Write a C++ Subscriber (10:01)
5.7 Debug ROS2 Topics with Command Line Tools (7:07)
5.8 Remap a Topic at Runtime (3:38)
5.9 Monitor Topics with rqt and rqt_graph (6:18)
5.10 Experiment on Topics with Turtlesim (4:52)
5.11 Activity 002 - ROS2 Topics
5.12 Activity 002 - Solution [1/2] (8:47)
5.13 Activity 002 - Solution [2/2] (11:09)
5.14 Section Conclusion
6. ROS2 Services - Client/Server Communication Between Nodes
6.1 Intro
6.2 What is a Service? (7:00)
6.3 Write a Python Service Server (13:39)
6.4 Write a Python Service Client - no OOP (13:44)
6.5 Write a Python Service Client - OOP (12:13)
6.6 Write a C++ Service Server (14:42)
6.7 Write a C++ Service Client - no OOP (14:23)
6.8 Write a C++ Service Client - OOP (17:13)
6.9 Debug Services with ROS2 Tools (4:50)
6.10 Remap a Service at Runtime (3:09)
6.11 Experiment on Services with Turtlesim (7:48)
6.12 Activity 003 - ROS2 Services
6.13 Activity 003 - Solution (11:56)
6.14 Section Conclusion
7. Create Custom ROS2 Interfaces (Msg and Srv)
7.1 Intro
7.2 What are ROS2 Interfaces? (11:34)
7.3 Create and Build Your First Custom Msg (13:50)
7.4 Use Your Custom Msg in a Python Node (10:27)
7.5 Use Your Custom Msg in a C++ Node (4:27)
7.6 Create and Build Your First Custom Srv (4:32)
7.7 Debug Msg and Srv with ROS2 Tools (7:06)
7.8 Activity 004 - ROS2 Custom Interfaces
7.9 Activity 004 - Solution [1/3] (10:54)
7.10 Activity 004 - Solution [2/3] (13:31)
7.11 Activity 004 - Solution [3/3] (19:31)
7.12 Section Conclusion
8. Change Node Settings at Runtime with ROS2 Parameters
8.1 Intro
8.2 What is a ROS2 Parameter? (3:18)
8.3 Declare Your Parameters (12:17)
8.4 Get Parameters From a Python Node (11:32)
8.5 Get Parameters From a C++ Node (9:38)
8.6 Activity 005 - ROS2 Parameters
8.7 Activity 005 - Solution [1/2] (5:58)
8.8 Activity 005 - Solution [2/2] (4:20)
8.9 Section Conclusion
9. Scale Your Application With ROS2 Launch Files
9.1 Intro
9.2 What is a ROS2 Launch File? (2:31)
9.3 Create and Install a Launch File (14:19)
9.4 Configure Your Nodes in a Launch File (6:41)
9.5 Activity 006 - ROS2 Launch Files
9.6 Activity 006 - Solution (11:17)
9.7 Section Conclusion
10. Complete Project With Turtlesim
10.1 Intro - Your Challenge (0:50)
10.2 Some Tips to Get Started
10.3 Project - Step 1/6 (28:29)
10.4 Project - Step 2/6 (15:40)
10.5 Project - Step 3/6 (17:09)
10.6 Project - Step 4/6 (19:09)
10.7 Project - Step 5/6 (7:26)
10.8 Project - Step 6/6 (12:24)
10.9 Project Conclusion
11. Conclusion
11.1 What You've Learned (1:52)
11.2 What to do next
6.12 Activity 003 - ROS2 Services
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