Part II: ROS 2 - The Robotic Nervous System
Part Overview
ROS 2 (Robot Operating System 2) is the de facto standard middleware for robot development. This part teaches you to build robot software using ROS 2's pub-sub architecture, Python development, URDF modeling, and control systems.
Chapters in This Part
Chapter 5: ROS 2 Fundamentals
Core architecture, nodes, topics, services, actions, and DDS communication.
Chapter 6: Building with ROS 2 & Python
Workspace setup, writing nodes, launch files, parameters, and ROS bags.
Chapter 7: Robot Description with URDF
Creating robot models in URDF/XML, links, joints, and visualization.
Chapter 8: Control Systems for Humanoids
Controllers, PID, trajectories, and the ROS 2 control stack.
Learning Outcomes
By completing Part II, you will:
- Design ROS 2 node architectures with proper communication patterns
- Implement Python nodes for robot behaviors
- Create URDF robot models for simulation
- Configure control systems for actuator management
Time Commitment
Total for Part II: 28-36 hours (7-9 hours per chapter)