5.3. Tutorials

The tutorials are a collection of step-by-step instructions meant to steadily build skills in ROS 2.

The best way to approach the tutorials is to walk through them for the first time in order, as they build off of each other and are not meant to be comprehensive documentation.

For quick solutions to more specific questions, see the How-to Guides.

• 5.3.1. Beginner: CLI tools
  • 5.3.1.1. Configuring environment
  • 5.3.1.2. Using turtlesim, ros2, and rqt
  • 5.3.1.3. Understanding nodes
  • 5.3.1.4. Understanding topics
  • 5.3.1.5. Understanding services
  • 5.3.1.6. Understanding parameters
  • 5.3.1.7. Understanding actions
  • 5.3.1.8. Using rqt_console to view logs
  • 5.3.1.9. Launching nodes
  • 5.3.1.10. Recording and playing back data
• 5.3.2. Beginner: Client libraries
  • 5.3.2.1. Using colcon to build packages
  • 5.3.2.2. Creating a workspace
  • 5.3.2.3. Creating a package
  • 5.3.2.4. Writing a simple publisher and subscriber (C++)
  • 5.3.2.5. Writing a simple publisher and subscriber (Python)
  • 5.3.2.6. Writing a simple service and client (C++)
  • 5.3.2.7. Writing a simple service and client (Python)
  • 5.3.2.8. Creating custom msg and srv files
  • 5.3.2.9. Implementing custom interfaces
  • 5.3.2.10. Using parameters in a class (C++)
  • 5.3.2.11. Using parameters in a class (Python)
  • 5.3.2.12. Using ros2doctor to identify issues
  • 5.3.2.13. Creating and using plugins (C++)
• 5.3.3. Intermediate
  • 5.3.3.1. Managing Dependencies with rosdep
  • 5.3.3.2. Creating an action
  • 5.3.3.3. Writing an action server and client (C++)
  • 5.3.3.4. Writing an action server and client (Python)
  • 5.3.3.5. Writing a Composable Node (C++)
  • 5.3.3.6. Composing multiple nodes in a single process
  • 5.3.3.7. Monitoring for parameter changes (C++)
  • 5.3.3.8. Launch
  • 5.3.3.9. tf2
  • 5.3.3.10. Testing
  • 5.3.3.11. URDF
  • 5.3.3.12. RViz
• 5.3.4. Advanced
  • 5.3.4.1. Enabling topic statistics (C++)
  • 5.3.4.2. Using Fast DDS Discovery Server as discovery protocol [community-contributed]
  • 5.3.4.3. Implementing a custom memory allocator
  • 5.3.4.4. Unlocking the potential of Fast DDS middleware [community-contributed]
  • 5.3.4.5. Recording a bag from a node (C++)
  • 5.3.4.6. Recording a bag from a node (Python)
  • 5.3.4.7. How to use ros2_tracing to trace and analyze an application
  • 5.3.4.8. Reading from a bag file (C++)
  • 5.3.4.9. Simulators
  • 5.3.4.10. Security
• 5.3.5. Demos
  • 5.3.5.1. Using quality-of-service settings for lossy networks
  • 5.3.5.2. Managing nodes with managed lifecycles
  • 5.3.5.3. Setting up efficient intra-process communication
  • 5.3.5.4. Recording and playing back data with rosbag using the ROS 1 bridge
  • 5.3.5.5. Understanding real-time programming
  • 5.3.5.6. Experimenting with a dummy robot
  • 5.3.5.7. Logging
  • 5.3.5.8. Creating a content filtering subscription
  • 5.3.5.9. External resources
• 5.3.6. Miscellaneous
  • 5.3.6.1. Deploying on IBM Cloud Kubernetes [community-contributed]
  • 5.3.6.2. Using Eclipse Oxygen with rviz2 [community-contributed]
  • 5.3.6.3. Building a real-time Linux kernel [community-contributed]
  • 5.3.6.4. Building a package with Eclipse 2021-06

5.3.7. Examples

• Python and C++ minimal examples.