ROS 2

1: Introduction to ROS2

• What is ROS2 and its key features?
• Comparison of ROS2 with ROS1
• Installation and setup of ROS2
• Creating a basic ROS2 workspace
• Launching ROS2 nodes

2: ROS2 Communication

• Understanding ROS2 topics and publishers/subscribers
• Creating and running a simple publisher and subscriber node
• Exploring different message types in ROS2
• ROS2 services and clients
• exercise: Building a simple chat application using ROS2

3: ROS2 Package Management

• Introduction to ROS2 packages and their structure
• Creating a ROS2 package
• Managing dependencies using ROS2 package.xml
• Building and running ROS2 packages
• Quizzes: Identifying package dependencies and understanding package.xml syntax

4: ROS2 Actions

• Introduction to ROS2 actions and their advantages over services
• Implementing and running ROS2 action servers and clients
• Creating a feedback-driven action in ROS2
• exercise: Implementing a simple navigation action using ROS2

5: ROS2 Parameters

• Understanding ROS2 parameters and their use cases
• Setting and getting parameters in ROS2 nodes
• Parameter server concepts and configuration files
• Dynamic reconfiguration of ROS2 parameters
• exercise: Tuning and controlling a robot's behavior using ROS2 parameters

6: ROS2 Launch System

• Introduction to ROS2 launch system and its benefits
• Creating launch files in ROS2
• Launching multiple nodes using launch files
• Using arguments and parameters in launch files
• Quizzes: Writing launch files for specific node configurations

7: ROS2 Tools and Visualization

• Introduction to ROS2 command-line tools (e.g., ros2 topic, ros2 node, ros2 bag)
• Visualizing ROS2 data with RViz and rqt tools
• Recording and playing back ROS2 data using rosbag
• Debugging and introspecting ROS2 nodes
• exercise: Visualizing robot sensor data using RViz

8: ROS2 Gazebo and Simulation

• Introduction to Gazebo, installation and robot simulation
• Introduction to robot modelling and SDF (Simulation Description Format)
• Creating custom world 
• Simulating robots in Gazebo
• Adding sensor to robot
• Integrating Gazebo with ROS2
• exercise: Building and controlling a simulated robot in Gazebo using ROS2

9: ROS2 Project Work

• Group project or individual projects to apply the knowledge acquired throughout the course
• Guidance and support provided by the instructor
• Presentations and demonstrations of the projects