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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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    تاریخ انتشار: ۲۸ آذر ۱۴۰۲
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