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Module 1: ROS 2 - Robotic Nervous System

This module introduces the fundamental communication infrastructure for controlling humanoid robots using ROS 2 (Robot Operating System 2). You'll learn how ROS 2 nodes, topics, services, and actions work together to create a "nervous system" for the robot, and how to control it using Python with rclpy.

Learning Objectives​

By the end of this module, you will be able to:

  • Set up a ROS 2 development environment
  • Create and manage ROS 2 nodes with rclpy
  • Implement communication patterns using topics, services, and actions
  • Create URDF models for humanoid robots
  • Launch and control simulated robots

Prerequisites​

  • Basic Python programming knowledge
  • Understanding of Linux command line
  • Familiarity with robotics concepts (optional)

Overview​

ROS 2 provides the foundational communication layer for robotics applications. This module covers the core concepts needed to build a humanoid robot's nervous system, enabling it to receive commands, process sensor data, and execute actions.

Structure​

This module is organized into the following sections:

  1. ROS 2 Nodes, Topics, Services - Core communication patterns
  2. Python Control with rclpy - Python-based robot control
  3. URDF Humanoid Modeling - Creating robot models

Let's begin by exploring the fundamental ROS 2 communication patterns.