rclpy_tutorial

Example source codes for rclpy

part 0 About ROS2

• About ROS2

part 1 Python Tutorial

• Overview
• Hello World (No function)
• Hello World (Using function)
• Hello World (Using class)
• Hello World (Using Inheritance)

part 2 ROS2 Installation

• Installation

part 3 rclpy basic

• pub_sub_int32
• rosparam_example
• msg_example
• srv_example (server)
• srv_example (client)

part 4 ros2arduino

• Installation
• Simple Pub-Sub

Part 5 Using sensor-msgs

• Overview
• Image
• joy, Twist
• imu
• LaserScan
• PCL

Part 6 Using Sensor Examples

• Web camera (Image)
• DUALSHOCK・DUALSENSE (joy)
• UST-10LX (LaserScan)
• Realsense D400

Part 7 URDF & TF2

• Overview
• Simple URDF
• Realsense T265 + URDF
• Quaternion to Twist (Euler)

Part 8 Make a simple Robot

• Specification design
• Hardware design
• Circuit design
• ESP32 + Motor Driver
• Raspberry Pi Connection
• Robot + Controller
• [ ]

Part 9