ROS 2 from Scratch
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ROS 2 from Scratch
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Recommended experience
Recommended experience
What you'll learn
Build a strong foundation in ROS 2 with practical, real-world applications.
Learn to create scalable applications using Python and C++.
Follow a structured process to design and simulate a custom robot.
Skills you'll gain
Tools you'll learn
Details to know
April 2026
14 assignments
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There are 14 modules in this course
In the world of robotics, ROS 2 is the backbone for creating scalable, efficient systems that interact with physical and virtual environments. This course provides an in-depth look at ROS 2, from the basics to more advanced concepts, preparing you to develop robust robotic applications.
Through this course, learners will gain hands-on experience with the key components of ROS 2, including node creation, message passing, and service handling. By exploring real-world applications like robot simulation and TFs, you'll strengthen your understanding and gain practical skills. What sets this course apart is its combination of theory with interactive, real-world exercises. From building and sending messages between nodes to simulating robots in Gazebo, this course provides a comprehensive learning experience. This course is perfect for robotics enthusiasts and professionals looking to dive into ROS 2. While prior programming experience is helpful, no specific robotics knowledge is required to start.
In this section, we explore ROS 2 fundamentals, including core concepts, terminology, and differences from ROS 1, while identifying prerequisites for effective robotics development.
What's included
2 videos3 readings1 assignment
2 videos•Total 2 minutes
- Course Overview Video•1 minute
- Introduction to ROS 2 - What Is ROS 2? - Overview Video•1 minute
3 readings•Total 35 minutes
- Introduction•10 minutes
- What is ROS?•10 minutes
- ROS 1 versus ROS 2•15 minutes
1 assignment•Total 10 minutes
- ROS 2 Fundamentals and Core Concepts•10 minutes
In this section, we guide through selecting a ROS 2 distribution, installing Ubuntu, and setting up the ROS 2 environment for effective robotics development.
What's included
1 video5 readings1 assignment
1 video•Total 1 minute
- Installing and Setting Up ROS 2 - Overview Video•1 minute
5 readings•Total 70 minutes
- Introduction•10 minutes
- How to Choose a ROS Distribution•10 minutes
- Creating a New VM•15 minutes
- Guest Additions CD Image•15 minutes
- Installing ROS 2 Packages•20 minutes
1 assignment•Total 10 minutes
- ROS 2 Installation and Configuration Fundamentals•10 minutes
In this section, we cover ROS 2 core concepts like nodes, topics, services, actions, parameters, and launch files for practical implementation.
What's included
1 video6 readings1 assignment
1 video•Total 1 minute
- Uncovering ROS 2 Core Concepts - Overview Video•1 minute
6 readings•Total 95 minutes
- Introduction•15 minutes
- Running a 2D Robot Simulation•15 minutes
- More Experimentation with Topics•10 minutes
- Services•20 minutes
- Recap Services•15 minutes
- Sending a Goal from the Terminal•20 minutes
1 assignment•Total 10 minutes
- ROS 2 Core Concepts Overview•10 minutes
In this section, we explore creating ROS 2 workspaces, packages, and nodes in Python and C++. Learners gain hands-on skills to build, run, and introspect nodes for robotic applications.
What's included
1 video8 readings1 assignment
1 video•Total 1 minute
- Writing and Building a ROS 2 Node - Overview Video•1 minute
8 readings•Total 120 minutes
- Introduction•15 minutes
- Sourcing the Workspace•15 minutes
- Building a Package•10 minutes
- Creating a Python Node•20 minutes
- Building the Node•15 minutes
- Creating a C++ Node•15 minutes
- Building and Running the Node•15 minutes
- Introspecting Your Nodes•15 minutes
1 assignment•Total 10 minutes
- ROS 2 Node Fundamentals•10 minutes
In this section, we explore ROS 2 topics for node communication, covering publishers, subscribers, and custom interfaces to enable message exchange in robotic systems.
What's included
1 video8 readings1 assignment
1 video•Total 1 minute
- Topics - Sending and Receiving Messages between Nodes - Overview Video•1 minute
8 readings•Total 165 minutes
- Introduction•20 minutes
- Multiple Publishers and Subscribers Inside One Node•30 minutes
- Creating a Node with a Publisher and a Timer•30 minutes
- Writing a C++ Subscriber•20 minutes
- Changing a Topic Name at Runtime•15 minutes
- Creating a Custom Interface for a Topic•15 minutes
- Creating a New Topic Interface•15 minutes
- Using Your Custom Message in Your Code•20 minutes
1 assignment•Total 10 minutes
- ROS 2 Communication Fundamentals•10 minutes
In this section, we explore ROS 2 services, focusing on creating custom interfaces, writing servers and clients, and using tools for service analysis in node communication.
What's included
1 video8 readings1 assignment
1 video•Total 1 minute
- Client/Server Interaction between Nodes - Overview Video•1 minute
8 readings•Total 135 minutes
- Introduction•10 minutes
- Wrapping Things Up•30 minutes
- Writing a Service Server•15 minutes
- Validating the Request•20 minutes
- Writing a Service Client•15 minutes
- Writing a C++ Service Client•20 minutes
- Service Challenge Client and Server•5 minutes
- Challenge•20 minutes
1 assignment•Total 10 minutes
- Client-Server Communication in ROS 2•10 minutes
In this section, we explore ROS 2 actions, focusing on implementing servers, clients, and custom interfaces with feedback and cancel mechanisms.
What's included
1 video8 readings1 assignment
1 video•Total 1 minute
- Actions - When Services Are Not Enough - Overview Video•1 minute
8 readings•Total 155 minutes
- Introduction•10 minutes
- How Do Actions Work?•10 minutes
- Wrapping Things Up•20 minutes
- Writing an Action Server•15 minutes
- Executing the Goal•20 minutes
- Implementing the Callbacks•20 minutes
- Writing a C++ Action Client•30 minutes
- Understanding the Problem with Cancel and Spin•30 minutes
1 assignment•Total 10 minutes
- ROS 2 Actions and Communication•10 minutes
In this section, we explore how to make ROS 2 nodes more dynamic using parameters, including loading from YAML files and updating with callbacks for real-time adaptability.
What's included
1 video1 reading1 assignment
1 video•Total 1 minute
- Parameters - Making Nodes More Dynamic - Overview Video•1 minute
1 reading•Total 50 minutes
- Parameters - Making Nodes More Dynamic - The Reading•50 minutes
1 assignment•Total 10 minutes
- Dynamic Node Configuration and Parameter Management•10 minutes
In this section, we explore ROS 2 launch files for scaling applications, covering XML and Python implementations, node configuration, and parameter management for efficient node orchestration.
What's included
1 video5 readings1 assignment
1 video•Total 1 minute
- Launch Files - Starting All Your Nodes at Once - Overview Video•1 minute
5 readings•Total 100 minutes
- Introduction•20 minutes
- Writing an XML Launch File•20 minutes
- Including a Launch File Inside Another Launch File•20 minutes
- Installing and Loading a YAML Param File in a Launch File•20 minutes
- Specifying a Namespace in a Launch File•20 minutes
1 assignment•Total 10 minutes
- ROS 2 Launch File Fundamentals•10 minutes
In this section, we introduce TFs and RViz for visualizing robot coordinate transformations and analyzing their relationships.
What's included
1 video3 readings1 assignment
1 video•Total 1 minute
- Discovering TFs with RViz - Overview Video•1 minute
3 readings•Total 45 minutes
- Introduction•15 minutes
- The Relationship Between Two Frames (Arrow in RViz)•15 minutes
- Visualizing the TF Tree•15 minutes
1 assignment•Total 10 minutes
- Exploring Transform Frames and Robot Structures•10 minutes
In this section, we explore creating URDF files to model robot links and joints using TFs, with Xacro for dynamic improvements, focusing on practical robot simulation and design.
What's included
1 video9 readings1 assignment
1 video•Total 1 minute
- Creating a URDF for a Robot - Overview Video•1 minute
9 readings•Total 135 minutes
- Introduction•20 minutes
- Modifying the Origin of the Visual•10 minutes
- The Process of Assembling Links and Joints•15 minutes
- Fixing the Joint Origin•15 minutes
- Recap the process to follow every time•10 minutes
- Right Wheel•15 minutes
- Left Wheel•15 minutes
- Improving the URDF with Xacro•20 minutes
- Xacro Macros•15 minutes
1 assignment•Total 10 minutes
- URDF Modeling Fundamentals•10 minutes
In this section, we explore packaging URDF files and publishing TFs in ROS 2, focusing on creating launch files and organizing robot data for real-world applications.
What's included
1 video4 readings1 assignment
1 video•Total 1 minute
- Publishing TFs and Packaging the URDF - Overview Video•1 minute
4 readings•Total 80 minutes
- Introduction•15 minutes
- Publishing the TFs from the Terminal•15 minutes
- Creating a Package to Install the URDF•20 minutes
- Installing the RViz Configuration•30 minutes
1 assignment•Total 10 minutes
- ROS 2 Robot Modeling and Transformation Fundamentals•10 minutes
In this section, we simulate a robot in Gazebo using ROS 2, adapt URDF with inertial and collision tags, and control the robot with plugins and launch files.
What's included
1 video9 readings1 assignment
1 video•Total 1 minute
- Simulating a Robot in Gazebo - Overview Video•1 minute
9 readings•Total 125 minutes
- Introduction•10 minutes
- Starting Gazebo•15 minutes
- How Gazebo Works with ROS 2•15 minutes
- Including the Inertial Macros in the Links•10 minutes
- How to Define a Collision Element•10 minutes
- Spawning the Robot in Gazebo•20 minutes
- Controlling the Robot in Gazebo•15 minutes
- Acceleration and Velocity Min and Max•15 minutes
- Starting the Gazebo Bridge with the Configuration•15 minutes
1 assignment•Total 10 minutes
- Robot Simulation Fundamentals•10 minutes
In this section, we explore advanced ROS 2 applications, focusing on real-world project planning, dynamic node communication, and robot simulation setup using TF and URDF.
What's included
1 video4 readings1 assignment
1 video•Total 1 minute
- What to Do Next - Overview Video•1 minute
4 readings•Total 45 minutes
- Introduction•10 minutes
- Navigation 2 Stack•10 minutes
- Coming Back to the Basics•10 minutes
- Learning for a Specific Goal•15 minutes
1 assignment•Total 10 minutes
- Navigating ROS 2 Learning and Application•10 minutes
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