ROS Tutorials - The Robotics Back-End

How to migrate a ROS project from ROS1 to ROS2

ed — Mon, 27 Jul 2020 13:30:31 +0000

In this quick guide I’ll give you some tips on how you can migrate a current ROS1 project into a ROS2 project. So, you are currently using + maintaining (+ developing) your ROS1 code base. How can you make a transition to ROS2 without breaking everything for your users, and while being able to continue ... Read more

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ROS1 vs ROS2, Practical Overview For ROS Developers

ed — Mon, 25 May 2020 13:48:55 +0000

You may be wondering what are the differences between ROS1 and ROS2. And what does it change for you? ROS1 vs ROS2, let’s begin! In this article I’ll give you a practical overview of what has changed, and what’s new. I’ll try to be brief. Not too many details, not too much theory, but a ... Read more

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ROS Create Custom Action

ed — Mon, 30 Mar 2020 15:04:04 +0000

In this tutorial you’ll learn how to create a custom ROS action, and import it in your code (Python and Cpp). Using ROS actions is quite handy when you need an asynchronous client/server mechanism. You can of course use some of the existing Action definitions, but oftentimes you’ll need some sort of customization. Setup the ... Read more

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Using ROS on Raspberry Pi: Best Practices

ed — Mon, 16 Mar 2020 15:11:12 +0000

So, you’re using – or want to use – ROS on a Raspberry Pi. That’s great! ROS + Raspberry Pi is such a powerful combination to create smart robots, with a somehow low cost, and very small electronic board embedded in the robot. Although there are many advantages, there are also some limitations that you ... Read more

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Raspberry Pi ROS Service Example With GPIOs

ed — Mon, 24 Feb 2020 15:14:02 +0000

In this tutorial I’ll show you how to write a complete ROS Service on your Raspberry Pi. You’ll see how to create both sides of the ROS Service: the client and the server. Also, to make it more interesting, we’ll use the Raspberry Pi GPIO header to actuate real hardware (using interrupts). Here is the ... Read more

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Raspberry Pi ROS Python Subscriber Tutorial

ed — Mon, 17 Feb 2020 15:21:20 +0000

In this tutorial I’ll show you how to create a ROS Python Subscriber on your Raspberry Pi. This is the direct following of how to create a ROS Publisher on Raspberry Pi. Please check out this previous tutorial first, before you continue. In the first tutorial you have seen how to read the state of ... Read more

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Raspberry Pi ROS Python Publisher: Publish a GPIO State

ed — Mon, 10 Feb 2020 15:07:42 +0000

In this tutorial I’ll show you how to write a ROS Python publisher on your Raspberry Pi. With the following code example you’ll learn how to publish a GPIO state with ROS. For that we’ll use a simple push button with a minimal hardware setup. You’ll see all the steps, from setting up the environment, ... Read more

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ROS Topic Remap [Example]

ed — Mon, 27 Jan 2020 15:05:55 +0000

In this tutorial I’ll show you how to remap a ROS topic. Remapping a topic means that you’ll change the topic name at run-time. If a node publishes on “topic1”, then you can make it publish on “topic2” instead, without having to change the code of the node. First things first, let’s understand why. Why ... Read more

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[ROS] Include a Cpp header from another package

ed — Mon, 20 Jan 2020 15:03:27 +0000

You want to include a Cpp header from another package in ROS, and don’t know how to do? Or you already tried and got a lot of compilation errors? Well, this tutorial is for you. I will start from scratch with a brand new custom library, build it inside a package, install it, and use ... Read more

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ROS AsyncSpinner Example

ed — Mon, 06 Jan 2020 15:14:59 +0000

In this tutorial I’ll show you how to use a ROS AsyncSpinner with an example. You’ll see when using a roscpp AsyncSpinner is required, instead of the standard roscpp spinner. This tutorial could also be called: how to solve roscpp callback issues, when it seems that some callbacks are stuck or late. We’ll start by ... Read more

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