Bring you own laptop (preferable no MAC-Apple).

Recommended Python knowledge

Interesting (not mandatory) C and C++ knowledge

This course will explore essential ROS2 concepts such as nodes, topics, services, and simulation tools mainly focused to be implemented as robotic programming tools.

Through a blend of theoretical explanations and hands-on exercises, participants will learn to control motors using ROS2 integrated with encoder and IMU sensors. Our aim is to equip you with the practical skills and knowledge necessary to effectively use ROS2 in your robotics projects and research.

- The course will be from 9:00 to 15:00 from Monday to Friday

 

- It is a practical course with 20h of practical implementations and 10h of theoretical foundations

 

- During the last day, 4 hours will be devoted to the presentation and discussion of the final report in groups of 2-3 students the last day

 

- The detailed program is as follows:

 

1. Theoretical Foundations (~6h)

1.1. Introduction to ROS2 (~1h)

- Overview: Introduction to fundamental ROS2 concepts including nodes, packages, and

client libraries.

 

1.2. Core Concepts of ROS2 (~2h)

- Topics: Understanding the mechanics of publishers and subscribers.

- Services: Exploring the client and server model in ROS2.

- Custom Interfaces: Crafting customized interfaces (msg & srv) tailored to specific

application needs.

 

1.3. Configuration and Management (~1h)

- Parameters: Techniques for dynamically changing node settings.

- Launch Files: Employing launch files to manage and scale systems.

 

1.4. Debugging, Visualization, and Simulation (~2h)

- Transform (TF): Utilizing TFs to manage coordinate transformations within a system.

- rviz2: Using rviz2 for system visualization.

- Gazebo: Implementing Gazebo for robot simulation.

 

2. Hands-on Project (~20h)

 

3. Presentations (~4h)

Submission of a written document and code of the project implementation.