Getting Started with ROS2

Welcome to the official repository for the Getting Started with ROS2 article series on Medium. This repository contains code examples, tutorials, and resources to help you learn and master ROS2.

Repository Structure

• installation_guide/: Instructions on how to install ROS2 on your Desktop/Laptop or a Raspberry Pi and set up your environment.
• workspace/: A sample ROS2 workspace with basic package structures.
• packages/:
  • publisher_package/: Simple publisher nodes to demonstrate how to publish messages.
  • subscriber_package/: Simple subscriber nodes to demonstrate how to subscribe to messages.
  • service_client_package/: Examples of creating services and clients.
  • action_server_client_package/: Examples of creating action servers and clients.
• launch_files/: Example launch files to run multiple nodes.
• custom_messages/: Examples of creating custom message and service types.
• parameter_server/: Demonstrations on how to use the parameter server.
• visualization_tools/: Examples using rviz and rqt.
• advanced_examples/: More complex projects like integrating sensors or simulating a robot in Gazebo.

Raspberry Pi Image with Ubuntu Server 22.04 and ROS2 Humble Base + Perception

We have created a Raspberry Pi image with Ubuntu Server 22.04 for arm64 and ROS2 base + perception pre-installed to help you get started quickly. This image can be downloaded directly from this link, flash it to a SD card, and boot on a Raspberry Pi 3 or above model. In case, you are not able to use this image, you can install ROS2 on Raspberry Pi by checking the installation_guide directory or following this link.

How to Use the Image

Before you start, you need an SD card that is at least 16GB in size.

1. Download the Image File: Download the compressed image file from the link above.

2. Extract the Image File: The image is compressed with the .gz compression format. You will need to decompress it. Once decompressed, you should have a file that ends with the extension .img. On windows, try using 7-zip. On Mac/GNU-Linux, use gunzip ubuntu-server-22.04-ros2-base.img.gz

3. Write the Image to an SD Card: Use a tool like Etcher or Raspberry Pi Imager to write the extracted .img file to an SD card.

4. Insert the SD Card into Your Raspberry Pi: Unplug the SD card and plug it into your Raspberry Pi and power it on. Wait for atleast 5 minutes for the first boot.

5. Get your Raspberry Pi's IP Address: Make sure your System and Raspberry Pi is connected to the same Wi-Fi network. Try to ping the raspberry pi with the hostname.

   ping raspberrypi.local

   and get the ip address of Pi.

6. Access Your Raspberry Pi: The default username is ubuntu and the password is 6496. The default hostname is raspberrypi. You can login either directly on the Raspberry Pi or via SSH (enabled by default). Try:

   ssh [email protected]

   or

   ssh ubuntu@<your-raspberrypi-ip-address>

7. Start Using ROS2: ROS2 is pre-installed and configured. You can start using it right away.

How to Use This Repository

1. Clone the Repository

   git clone https://github.com/sagar16812/Getting-Started-with-ROS2-A-Tutorial-Series.git
   cd ros2-getting-started

2. Follow Along with the Articles

   This repository complements the "Getting Started with ROS2" article series on Medium. Each article will reference specific examples and code from this repository. Read the series on Medium.

Contributing

Contributions are welcome! If you have any suggestions or improvements, feel free to open an issue or submit a pull request.

License

This repository is licensed under the Apache 2.0 License. See the LICENSE file for more details.

Contact

For any questions or feedback, feel free to reach out or comment on the Medium articles. Happy coding!