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Robotics Ladder ยท College

ROS 2 and Simulation

What ROS 2 is for: nodes, topics, services and actions, units and frames by the REP 103 conventions, chains of transforms, and how a simulator steps time.

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5 topics in 2 units. Builds on Programming Robots and Mobile Robots and Navigation. Leads to Capstone Projects and Careers. Not sure this is the right course? Find your rung.

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Unit 1 The ROS 2 Graph

2 topics

Nodes, topics, services and actions: how robot programs talk.

  1. Nodes and Topics
  2. Services and Actions

Unit 2 Units, Frames and Simulation

3 topics

The shared conventions that let programs agree, and how simulators step time.

  1. Units and Axes: REP 103
  2. Chains of Transforms
  3. How a Simulator Steps Time