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Learn ROS2 as a ROS1 Developer and Migrate Your ROS Projects
1. Introduction
1.1 Welcome! (3:19)
1.2 When to Switch From ROS1 to ROS2? (5:57)
1.3 How to get the most out of this course (1:14)
1.4 Setup for the course (1:36)
2. Install ROS2 and Discover the Main Differences With ROS1
2.1 Intro (0:19)
2.2 Install ROS2 Foxy (Ubuntu 20.04) and Setup Your Environment (6:19)
2.3 Start a ROS2 Node and Get Familiar with ROS2 Tools (7:00)
2.4 ROS1 vs ROS2: First Differences (quick overview) (7:09)
3. Re-write a ROS1 App into ROS2 (part A)
3.1 Intro (0:35)
3.2 Install ROS1 Noetic to Test the ROS1 App (6:25)
3.3 The ROS1 App We'll Use (12:09)
3.4 Install colcon (3:08)
3.5 Create a ROS2 Workspace (4:04)
3.6 Create a Package (Python) (7:03)
3.7 Create a Package (C++) (3:10)
3.8 Create a Node (Python) (15:27)
3.9 Create a Node (Python) with OOP (10:11)
3.10 Create a Node (C++) (13:58)
3.11 Create a Node (C++) with OOP (8:14)
3.12 Template for your OOP Nodes (8:53)
4. Re-write a ROS1 App Into ROS2 (part B)
4.1 Write a Topic Publisher/Subscriber (Python) (16:20)
4.2 Write a Topic Publisher/Subscriber (C++) (14:30)
4.3 Create Custom Interfaces (Msg/Srv) (12:50)
4.4 Write a Service (Python) (10:03)
4.5 Write a Service (C++) (12:04)
4.6 Remapping in ROS2 (4:49)
4.7 ROS2 Parameters - What Has Changed? (3:41)
4.8 Declare Your Parameters (Python/C++) (13:23)
4.9 Get Parameters From Your Code (Python) (6:54)
4.10 Get Parameters From Your Code (C++) (5:42)
4.11 Create a Launch File (19:43)
5. ros1_bridge and Migration Guide
5.1 Intro (0:57)
5.2 Steps to Migrate a Code base using ros1_bridge (4:57)
5.3 Install and Test ros1_bridge (10:44)
5.4 Bridge Custom Messages [1/4] - Why + Setup (8:38)
5.5 Bridge Custom Messages [2/4] - Installation Process (6:18)
5.6 Bridge Custom Messages [3/4] - Running Your App (6:56)
5.7 Bridge Custom Messages [4/4] - Mapping Rules (15:46)
5.8 Use ros1_bridge with our Number App (15:10)
6. Migration Project
6.1 Intro - Discover the ROS1 App (10:57)
6.2 Intro - Project Steps (3:18)
6.3 Step 0: Port the code to ROS1 Noetic (5:28)
6.4 [BEFORE GOING FURTHER] Download the Seed for the ROS2 Project (5:37)
6.5 Step 1: Setup ros1_bridge for Your Custom Interfaces (18:31)
6.6 Step 2: Port the Target Publisher Node (15:15)
6.7 Step 3: Port the Turtle Controller Node (15:46)
6.8 Step 4: Create a Launch File for the App (7:57)
6.9 Project Conclusion - Improvements (1:16)
7. Conclusion
7.1 What to do next (2:04)
6.1 Intro - Discover the ROS1 App
Download
project_ros1_melodic.zip
Download
project_ros1_noetic.zip
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