About ROS 2

• Overview of ROS 2 concepts
• DDS and ROS middleware implementations
• ROS 2 Client Libraries
• About ROS interfaces
• About Quality of Service Settings

ROS 2 Tutorials

• Installation from binary and source, all platforms
• Using ament to build a custom package
• Introspection with command-line tools
• Working with multiple RMW implementations
• Composing multiple nodes in a single process
• Defining custom interfaces (msg/srv).md)
• New features in ROS 2 interfaces (msg srv).md)
• Eclipse Oxygen with ROS 2 and rviz2
• Building ROS 2 on Linux with Eclipse Oxygen

Advanced

• Implement a custom memory allocator

Docker

• Run 2 nodes in a single docker container
• Run 2 nodes in two separate docker containers

ROS 2 Demos

• Use quality-of-service settings to handle lossy networks
• Managed Nodes
• Efficient intra-process communication
• Bridge communication between ROS 1 and ROS 2
• Recording and playback of topic data with rosbag using the ROS 1 bridge
• Turtlebot 2 demo using ROS 2
• Using tf2 with ROS 2
• Write real-time safe code that uses the ROS 2 APIs
• Use the rclpy API to write ROS 2 programs in Python
• Use the robot state publisher to publish joint states and TF
• Use DDS-Security
• Logging and logger configuration

ROS 2 Examples

• Python and C++ minimal examples