Program Robots Like a Boss
In this tutorial you’ll learn how to enable ssh on Raspberry Pi 4, with the Raspberry Pi OS (previously Raspbian). On Raspberry Pi OS, ssh is disabled by default, so you’ll have to find a way to enable ssh + find the IP address + connect to it. I will separate the tutorial into 2 … Read more
In this tutorial you’ll learn how to create and setup a ROS2 Cpp package. I will explain every step, what every file does, how to install nodes and launch files. This will give you a good foundation for any future ROS2 Cpp package you create. Let’s get started! Setup your ROS2 Cpp package Before you … Read more
In this tutorial you’ll learn how to create and setup a ROS2 Python package. I’ll show you every step, and explain the relation between files, where to write your nodes, how to add launch files, etc. Let’s get to it! Setup your ROS2 Python package Before you can create a ROS2 Python package, make sure … Read more
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
In this tutorial I will show you a ROS2 Python publisher example. I will break down the code so you can learn how to create your own ROS2 publisher node in Python. So, here we’ll suppose we have a temperature sensor, and we want to publish the measured temperature every 2 seconds (at 0.5 Hz). … Read more
In this tutorial you will learn how to install ROS2 Foxy Fitzroy on Raspberry Pi 4. ROS2 is a great framework/middleware for robotics applications. With a Raspberry Pi board you can go much further, and embed a complete ROS2 application inside a small robot. For example, if you want to build a mobile base with … Read more
In this tutorial you’ll learn how to install Ubuntu 20.04 on Raspberry Pi 4, without needing any external monitor/keyboard/mouse. Just your computer (with which you’re reading this tutorial now), your Raspberry Pi 4 board, a micro SD card, and the power cable. I will also show you how to completely configure Ubuntu server on your … Read more
In this tutorial I will show you how to create a sort of “global parameter server” node to keep ROS2 global parameters for all your other nodes. The thing is, in ROS2, params are specific to a specific node. You set params for a node, you start the node, and if you kill the node, … Read more
In this rclcpp params tutorial you’ll see how to get and set ROS2 params with rclcpp, in a Cpp node. If you want to do the same with Python, check out the rclpy tutorial. Setup code and declare ROS2 params with rclcpp Before you use a ROS2 param in your Cpp code, you must declare … Read more
In this rclpy params tutorial you’ll learn how to get and set ROS2 params with rclpy, inside a Python node. ROS2 params allow you to provide configuration for a node at run time. All params specified for a node are specific to this node and only exist while the node is alive. It’s very useful, … Read more