Learn ROS-ROS2 with Real Code Examples

Simulate a robot in Gazebo and control it via ROS2 nodes

Subscribe to a camera topic and process images

Use LIDAR data for obstacle avoidance

Implement a navigation stack for autonomous movement

Coordinate multiple robots using ROS2 DDS communication

Ensure ROS/ROS2 environment is sourced correctly

Check that topic names match between publisher and subscriber

Verify message and service definitions are built

Inspect logs using `ros2 topic echo` or `rqt_console`

Confirm network configuration for multi-machine ROS2 setups

Use rostest or pytest for unit testing nodes

Simulate sensors and actuators for testing

Monitor topic communication with `ros2 topic list` and `echo`

Validate services and actions through test scripts

Use CI/CD pipelines for automated ROS2 builds and tests

Deploy nodes on embedded computers like Raspberry Pi or Nvidia Jetson

Containerize ROS2 applications with Docker

Run simulation-only nodes on development machines

Distribute multi-robot nodes across networked computers

Cross-compile ROS2 packages for ARM architectures

roscore (ROS1) or `ros2 daemon` (ROS2) for communication management

RViz for 3D visualization

Gazebo for simulation

rqt plugins for monitoring topics, nodes, and parameters

Colcon or Catkin build tools

Connect to hardware via ROS2 drivers

Interface with AI/ML modules for perception

Communicate with cloud services or IoT platforms

Integrate with custom middleware or ROS1 bridges

Simulation and testing with Gazebo or Webots

Use launch files to run multiple nodes efficiently

Leverage ROS2 lifecycle nodes for clean startup/shutdown

Use ROS2 composition for reduced overhead

Containerize workspaces for reproducibility

Document and modularize packages for easier collaboration

Understanding ROS2 DDS and QoS policies

Debugging distributed systems

Hardware-software integration across platforms

Real-time performance tuning

Migrating legacy ROS1 packages to ROS2