Learn ROS-ROS2 with Real Code Examples

Nodes communicate through topics, services, and actions

ROS Master (ROS1) or DDS (ROS2) manages discovery and communication

Messages define data exchanged between nodes

Supports distributed deployment across multiple machines

Hardware interfaces abstract sensors and actuators

Nodes communicate via DDS (ROS2) or ROS Master (ROS1)

Messages carry data asynchronously between nodes

Services handle synchronous calls

Actions support long-running preemptable tasks

Visualization through RViz, simulation via Gazebo

Node-based modular software design

Publisher-Subscriber for decoupled communication

Client-Server via services

Event-driven actions for long tasks

Hardware abstraction via drivers and interfaces

Autonomous mobile robots with LIDAR and cameras

Warehouse automation with multiple ROS2 robots

Self-driving car perception and control stacks

Industrial robotic arms integrated with ROS2 drivers

Drone swarms coordinated via ROS2 topics and actions

Modular, node-based architecture

Hardware abstraction and OS independence

Communication via topics, services, and actions

Scalable from single robots to distributed multi-robot systems

Open-source, community-driven development

Use multiple nodes and topics to decouple logic

Leverage ROS2 DDS for distributed robots

Use launch files to manage complex systems

Containerize nodes for deployment

Optimize performance using QoS and node composition

ROS1 -> ROS2 migration requires adapting topics, services, and parameters

Update node lifecycle handling and QoS policies

Use ROS1 bridge for compatibility

Test simulation and visualization integration

Validate hardware driver compatibility