Learn ROS-ROS2 with Real Code Examples

Updated Nov 27, 2025

Introduction & Fundamentals Setup & Configuration Architecture & Deep Internals Performance & Security Development Workflow Learning & Career Growth Business & Strategy Examples

Installation Setup

Install ROS/ROS2 from official packages for your OS (Ubuntu recommended)

Set up workspace using `catkin` (ROS1) or `colcon` (ROS2)

Install required dependencies and build tools

Configure environment variables (`source setup.bash`)

Test installation with demo nodes and talker/listener examples

Environment Setup

Install ROS/ROS2 packages for your OS

Source setup files (`source /opt/ros/<distro>/setup.bash`)

Create and initialize workspace

Install additional dependencies via apt or pip

Test with talker/listener demo nodes

Config Files

CMakeLists.txt - build rules

package.xml - package metadata and dependencies

launch/ - launch scripts for multi-node execution

msg/ - custom message definitions

srv/ - custom service definitions

Cli Commands

ros2 run <package> <node> - Run node

ros2 launch <package> <launch_file> - Launch multiple nodes

ros2 topic list/echo/pub - Inspect and publish topics

ros2 service list/call - Inspect and call services

colcon build - Build ROS2 workspace

Internationalization

Documentation primarily in English

Community translations growing for tutorials

Code is language-agnostic with Python/C++ bindings

Simulation and visualization tools support global formats

Multi-language comments and ROS messages possible

Accessibility

ROS2 is open-source and cross-platform

Documentation, tutorials, and examples widely available

Remote debugging and visualization possible

Community forums provide support

Accessible via Docker containers for reproducible setups

Ui Styling

RViz provides 3D visualization of robots and environments

rqt offers GUI plugins for monitoring nodes and topics

Custom dashboards possible via Qt or web interfaces

Simulation provides realistic environment feedback

No standard UI for embedded-only ROS nodes

State Management

Node state maintained via internal variables

Parameters store configuration

Lifecycle nodes in ROS2 manage startup/shutdown states

Topics/actions carry transient state between nodes

Use persistent storage or databases for long-term state

Data Management

Messages and topics carry sensor and actuator data

Services return synchronous responses

Actions handle feedback and result states

Data can be logged for debugging or analytics

Integration with external databases or cloud platforms