ROS 2 Workspace with Worked examples in Python

Course material for TT102: Introduction to Python for Robotics

Instructor: Dr. Kshitij Tiwari

This repository contains a ROS 2 workspace named example_ws that runs inside a Docker container. It is configured with Ubuntu 20.04.6 LTS and ROS 2 Foxy. This workspace includes relevant packages in Python that were utilized in the course material by the instructor to allow the learners to replicate the results.

Prerequisites

Before you start, make sure you have Docker installed on your system.

For this, you can go through the video lecture on setting up Docker & VS Code.

Getting Started

Building the Docker Image

docker build -t example_ws .

Cloning this Git Repository

git clone https://github.com/yourusername/example_ws.git

Installing package dependencies

./pkg_install.bash

Launching the relevant packages and Sims

./launch_gz.bash

ROS 2 Python Packages Included:

This repository comes with the following ROS 2 Python packages included in the src/ folder.

Package Name	Node Name	Node Description
robot_spawn_pkg	spawn_bot.py	Python ROS2 node to spawn a custom 4 wheeled robot with camera and lidar at a preset initial pose
robot_mover_pkg		Python ROS2 node to move the robot currently spawned in Gazebo

ROS 2 Package Dependencies/Utilities:

In order to test, debug and deploy you may want to additionally install the following ROS2 dependencies/utilities inside your *_ws/src

Package Name	Install Command	Description
ros_network_viz	git clone https://github.com/ros2/ros_network_viz.git	ROS2 utility to graphically show all nodes, topics and services and actions

Additional resources:

Resource Name	Description
basic_bocbot	A Github repository with the office world and robot utilized in this lecture series
Introduction to ROS	A Lecture introducing ROS and ROS 2 to absolute beginners with intuitive examples
RQT Network	A GUI-based ROS2 utility to visualize all nodes, topics, services and actions in ROS2

License

This project is licensed under the MIT License.

Contributions

Feel free to contribute to this project by submitting issues or pull requests.