Getting Started with ROS 2 Programming
In the previous chapter, we discussed the fundamentals of the ROS framework and its important features. We made a detailed comparison between ROS 1 and ROS 2 architecture and discussed why we must migrate from ROS 1 to ROS 2. We also saw the work of DDS, which is the core part of ROS 2. We listed popular DDS vendors and different layers of ROS 2, which connect to ROS 2 and DDS. I hope that the chapter provided an overview of ROS 2 architecture and its relevance in robotics software.
This chapter will give you a practical overview of how to quickly set up ROS 2 on Ubuntu 24.04 on any computer and start working on it. We will explore multiple ways to set up ROS 2 on our computers. After setting up ROS 2, we will start familiarizing ourselves with its basics. Then, we will start discussing ROS 2 concepts using its tools, packages, workspace, and Turtlesim, a 2D simulator that can be used to learn about ROS 2 concepts. Ultimately, we will see...
