ROS 2

This series documents my ROS 2 journey, starting with setting up Ubuntu and building up to simulation, ros2_control, robot kinematics and transformations with the BumperBot.

Credits: based on my learning from the Udemy course Self Driving and ROS 2, Learn by Doing! Odometry & Control by Antonio Brandi. The BumperBot files and initial implementations were developed with the guidance of this course.

Chapters: 51

Start with chapter 1

Chapter 01Installing Ubuntu Desktop (Dual Boot with Windows)
Chapter 02ROS 2 Jazzy Installation on Ubuntu (Step-by-Step)
Chapter 03Development Environment Setup for ROS 2 Jazzy on Ubuntu (With Clear Explanations)
Chapter 04ROS 2 Fundamentals: Architecture, Communication, Packages, and Workspaces
Chapter 05ROS 2 Workspace & Package Creation
Chapter 06ROS 2 Python Publisher
Chapter 07ROS 2 C++ Publisher
Chapter 08ROS 2 Python Subscriber
Chapter 09ROS 2 C++ Subscriber
Chapter 10Robot Locomotion: Introduction
Chapter 11Wheeled Locomotion Architectures
Chapter 12Rolling Friction & Wheeled Locomotion Efficiency
Chapter 13Introduction to Robot Simulation
Chapter 14URDF
Chapter 15Create a URDF Model
Chapter 16Rviz
Chapter 17Node Parameters
Chapter 18Python Parameters
Chapter 19C++ Parameters
Chapter 20ROS 2 Parameters
Chapter 21Visualize The Robot In RVIZ2
Chapter 22Launch Files
Chapter 23ROS 2 Launch Files: Visualizing the Robot with One Command
Chapter 24Gazebo
Chapter 25Simulating the Robot in Gazebo
Chapter 26ROS 2 Control
Chapter 27Control Types
Chapter 28ROS 2 Control: Prepare the Robot for Control
Chapter 29Understanding ROS 2 Control | Explanation of Chapter 28
Chapter 30ROS 2 Control: Moving the BumperBot
Chapter 31Robot Kinematics
Chapter 32Pose of a Mobile Robot
Chapter 33Translation Vector
Chapter 34Introduction to Turtlesim
Chapter 35Translation Vector Between Two Turtles: Python
Chapter 36Translation Vector Between Two Turtles: CPP
Chapter 37Rotation Matrix
Chapter 38Rotation Matrix Between Two Turtles: Python
Chapter 39Transformation Matrix
Chapter 40Differential Kinematics
Chapter 41Velocity of a Mobile Robot
Chapter 42Simple Speed Controller: Python
Chapter 43Launch the Simple Speed Controller
Chapter 44Teleoperating the BumperBot with a Joystick
Chapter 45ROS 2 Diff Drive Controller
Chapter 46TF 2 Library
Chapter 47Operation With Transformations
Chapter 48Static & Dynamic Transformations
Chapter 49Simple TF2 Static Broadcaster
Chapter 50Simple TF2 Broadcaster: Static and Dynamic Transforms
Chapter 51ROS 2 Services