ROS2

References

• https://design.ros2.org/
• Index of ROS Enhancement Proposals (REPs)
  • https://ros.org/reps/rep-0000.html
  • ROS 2 Common Packages
    • https://www.ros.org/reps/rep-2005.html
  • ROS 2 Releases and Target Platforms
    • https://ros.org/reps/rep-2000.html
  • ROS2 DDS QOS
    • https://velog.io/@katinon/ROS2-ROS-2%EC%9D%98-DDS%EC%99%80-QoS
  • Remapping Names: https://design.ros2.org/articles/static_remapping.html
  • ROS2 middleware interface: https://design.ros2.org/articles/ros_middleware_interface.html
• ROS2 Launch
  • https://github.com/ros2/launch/blob/galactic/launch/doc/source/architecture.rst

Offical Examples

• ROS2 Demo
  • https://github.com/ros2/demos/tree/galactic
• Examples
  • https://github.com/ros2/example_interfaces
  • https://github.com/ros2/examples
    • https://github.com/ros2/examples/blob/master/rclpy/actions/minimal_action_server/examples_rclpy_minimal_action_server/server.py
  • https://github.com/ros2/rcl_interfaces/tree/galactic

ros2 action send_goal --feedback fibonacci example_interfaces/action/Fibonacci "{order: 10}"

ros2 run examples_rclpy_minimal_action_server server

ROS Industrial

• https://rosindustrial.org/
• ROS Industrial Training WiKi
  • https://industrial-training-master.readthedocs.io/en/latest/

Youtube 강좌

• https://www.youtube.com/watch?v=X9uYIumhU8E&list=PLieE0qnqO2kTNCznjLX_AaXe2hNJ-IpVQ
• https://puzzling-cashew-c4c.notion.site/ROS-2-fdf98ed40c4e4bd386a8f1c5b76984a4

Implementation Code

• python-implementation
  • https://github.com/ros2/rclpy/tree/rolling/rclpy/src/rclpy

ROS2 Action

• ROS2 Python Action API Reference
  • https://docs.ros2.org/galactic/api/rclpy/api/actions.html
• send_goal Command Tool Source
  • https://github.com/ros2/ros2cli/blob/galactic/ros2action/ros2action/verb/send_goal.py
• ROS2 Action Demos
  • https://github.com/ros2/demos/blob/humble/action_tutorials/action_tutorials_cpp/src/fibonacci_action_client.cpp

Tutorials

• Official basic tutorials: https://docs.ros.org/en/humble/Tutorials.html
  • https://github.com/ros/ros_tutorials/tree/humble
• Robot Industrial Workshop: https://ros2-industrial-workshop.readthedocs.io/en/latest/
  • https://ros2-industrial-workshop.readthedocs.io/en/latest/_source/navigation/ROS2-Turtlebot.html
• Ros industrial: https://github.com/ros-industrial
  • Workshop repository: https://github.com/ros-industrial/ros2_i_training

Gazebo

• Install: https://gazebosim.org/docs/garden/install_ubuntu

Colcon

• https://colcon.readthedocs.io/en/released/reference/verb/build.html

Tips

rosdep install -i --from-path src --rosdistro foxy -y
colcon build --symlink-install
colcon build --symlink-install --packages-select

rqt_graph
ros2 topic list
ros2 topic info /cmd_vel
ros2 interface show geometry_msgs/Twist

ros2 pkg list        // show installed packages
ros2 pkg executables // show executables in installed packages
ros2 pkg prefix      // show installed directory

a-list-of-robots-running-on-ros2

• https://www.theconstructsim.com/a-list-of-robots-running-on-ros2/

• https://puzzling-cashew-c4c.notion.site/ROS-2-Node-Package-9093c602cb5c466b94071eb096375b54
• https://ros.org/reps/rep-2005.html

ros2_control

• https://control.ros.org/master/index.html
• Demo
  • https://github.com/ros-controls/ros2_control_demos

UR3 example for humble

• https://github.com/UniversalRobots/Universal_Robots_ROS2_Description

rosdep update
rosdep install --ignore-src --from-paths src -y
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

UR3 example for foxy

• https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/tree/foxy

cd Universal_Robots_ROS2_Driver
git checkout foxy
cd ../..
rosdep update && rosdep install --ignore-src --from-paths src -y
apt-get install ros-foxy-joint-state-publisher-gui //missing ros package
colcon build --symlink-install
source install/setup.bash

ros2 launch ur_description view_ur.launch.py ur_type:=ur5e

turtlebot3_navigation2 example for foxy

• https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#gazebo-simulation
• https://emanual.robotis.com/docs/en/platform/turtlebot3/nav_simulation/

$ cd ~/turtlebot3_ws/src/
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd ~/turtlebot3_ws && colcon build --symlink-install

export TURTLEBOT3_MODEL=burger
source ./install/setup.bash
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

export TURTLEBOT3_MODEL=burger
source ./install/setup.bash
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=map/map.yaml

export TURTLEBOT3_MODEL=burger
source ./install/setup.bash
ros2 run turtlebot3_teleop teleop_keyboard

ros2 node info /rviz2 --no-daemon
ros2 action info /navigate_to_pose -v
ros2 interface show nav2_msgs/action/NavigateToPose

ros2 action send_goal --feedback /navigate_to_pose nav2_msgs/action/NavigateToPose "{pose: {header:{frame_id: 'map',}, pose: {position: {x: 2.0, y: 0.0}}}}"

ros2 doctor --report

• https://answers.ros.org/question/389469/only-loopback-works-for-cyclone-dds-no-multicast/

Utilities

ros2 run rqt_console rqt_console // logging only

rqt // all rqt tools

Build Custom MSG

• https://answers.ros.org/question/370126/what-happens-to-constants-in-a-msg/
• https://docs.ros.org/en/foxy/Concepts/About-ROS-Interfaces.html#constants
• https://github.com/ros-planning/navigation2/blob/galactic/nav2_msgs/action/NavigateToPose.action

Troubleshooting

• rqt button not show icon
  • https://answers.ros.org/question/372890/rqt-button-not-show-icon/

    mkdir ~/.icons/
    ln -s /usr/share/icons/Tango ~/.icons/hicolor