KevsRobots Learning Platform

Learn ROS with me

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Overview
Setting up the Raspberry Pi 4 environment
Setting Docker for ROS
Build the ROS2 Container
Setting up VSCode
First ROS2 Program
ROS2 Python Packages
Docker and X11
RViz2

Summary and next steps

What you've learned about ROS 2 and where to go next

By ,    Minute

What you’ve learned

Congratulations! You’ve gone from a blank SD card to live LiDAR data in RViz2. Along the way you:

  • Set up a Raspberry Pi with 64-bit Raspberry Pi OS and Docker
  • Built and ran ROS 2 Humble in a Docker container, and connected to it from VS Code
  • Created a workspace with colcon and wrote ROS 2 nodes in Python
  • Built a package with a publisher and a subscriber talking over a topic
  • Forwarded X11 so RViz2 could run in the container
  • Used TF2 to place your LiDAR scans in the world and displayed them in RViz2

What’s next

  • Launch files start several nodes with one command. Try writing one that starts the RPLidar node and the static transform together.
  • SLAM (Simultaneous Localisation and Mapping) uses LiDAR scans to build a map while the robot works out where it is in it. The slam_toolbox package is a great place to start.
  • Watch They All Gave Up on ROS and MicroPython, I Didn’t to see where I’ve taken ROS since.

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