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Foreword
1. Instructions for RO47003 (RSP) students
1.1. Using ROS with Singularity
1.2. Hand-in lab assignment 2
1.3. Hand-in lab assignment 3
2. Welcome to ROS
2.5. About this manual
2.6. Online help and resources
2.7. Other Robot Frameworks
3. A minimal example
3.1. Configuring your shell environment for ROS 2
3.2. Running your first ROS program:
turtlesim
3.3. Using a
rqt
as a GUI
4. ROS core concepts
5. The ROS Command Line Interface (CLI)
5.4. Nodes and the Graph
5.5. Topics
5.6. Visualizing the ROS Graph with
rqt_graph
5.7. Message types
5.8. Services and Actions
5.9. Parameters
5.10. Inspecting ROS packages
6. Common ROS Tools
6.1. Launch files
6.2. Creating a launch file
6.3. Recording data with ROS bags
6.4. RViz, a 3D visualizer for ROS
6.5. Spatial frames and TF2
7. A gentle introduction to the ROS API
7.2.
rclpy
, the Python client library
7.3. Useful C++ idioms
7.4.
rclcpp
, the C++ client library
8. Developing ROS packages in a workspace
8.1. Creating a workspace
8.2. Creating a ROS 2 package
8.3. Build your own Python ROS 2 package
8.4. Build your own C++ ROS 2 package
8.5. Add launch files to your package
9. The Gazebo simulator
Index
