ROS2 for Beginners Level 3 – Advanced Concepts

سرفصل های دوره

Get Your ROS 2 Skills to the Next Level - ROS2 Actions, Lifecycle Nodes, Executors, Components, and More.

01 - Introduction

001 Welcome!

002 How to follow this course

003 Setup Your Environment (+ Tools)

004 Node OOP Template

004 node-oop-template.zip

02 - ROS2 Actions - Python ROS2 Action

001 Intro

002 Why and When to use ROS 2 Actions

003 How do ROS 2 Actions Work

004 Create an Action Definition

005 Write a Minimal Python Action Server

006 Write a Minimal Python Action Client

007 Accept or Reject a Goal

008 Goal State Machine Explained

009 Set a Goal as Succeeded or Aborted

010 Send Goal Feedback

011 Cancel a Goal

012 Introspect Actions with ros2 action (command line)

013 Goal Policy Multiple goals in parallel

014 Goal Policy Refuse new goal if current goal is active

015 Goal policy Preempt current goal if new goal received

016 Goal policy Queue goals

03 - C++ ROS2 Actions

001 Intro

002 C++ Action Server

003 C++ Action Client

004 Accept or Reject a Goal

005 Set a Goal as Succeeded or Aborted

006 Send Goal Feedback

007 Cancel a Goal

008 Goal Policy Multiple goals in parallel

009 Goal Policy Refuse new goal if current goal is active

010 Goal Policy Preempt current goal if new goal received

011 Goal Policy Queue goals

04 - ROS2 Actions - Challenge

001 Intro - Project Overview

002 Step 1 - Create and Generate the Action

003 Step 2 - Action Server

004 Step 3 - Action Client

005 Step 4 - Accept Goal and Goal Policy

006 Step 5 - Cancel with a Subscriber

007 Actions Challenge - C++ Code

007 actions-section4-end-challenge.zip

05 - ROS2 Lifecycle Nodes

001 Intro

002 What are Lifecycle Nodes, When to Use Them

002 lifecycle-section5-starting-code.zip

003 Code Setup

004 Write a Lifecycle Node in Python

005 Transition Between States (with ros2 lifecycle cmd line)

006 Processing Errors

007 Lifecycle Node Manager (using Lifecycle Services)

008 Create a Launch File for Lifecycle Nodes

009 Write a Lifecycle Node in C++

009 lifecycle-section5-code-end.zip

06 - ROS2 Lifecycle Nodes - Challenge

001 Intro

002 Step 1 - Transform the Node Into a Lifecycle Node

003 Step 2 - Start Several Nodes (Params + Launch File)

004 Step 3 - Lifecycle Manager

005 Lifecycle Node Challenge - C++

005 lifecycle-section6-end-challenge.zip

07 - ROS2 Executors

001 Intro

002 Understand How Callbacks and Spin Work

002 executors-section7-starting-code.zip

003 The SingleThreaded Executor

004 Multi Threaded Executor and Callback Groups

005 Which ExecutorCallback Group Should You Use

006 Going back to the Actions Server Example

007 Run Several Nodes in One Executable

008 Executors With C++

008 executors-section7-code-end.zip

08 - ROS2 Components

001 Intro

002 Manual Composition with Python

002 components-section8-starting-code.zip

003 Manual Composition with C++

004 Create a ROS2 Component (plugin)

005 Load a Component at Run-Time with ros2 component cmd line

006 Load Components From a Launch File

006 components-section8-code-end.zip

09 - ROS2 Components - Challenge

001 More content coming soon.html

10 - Conclusion

001 Bonus Lecture.html

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تولید کننده: Udemy