Part 1: Introduction to ROS 2
Chapter 1: Introduction to ROS 2
__1.1.
Tools for robot development
__1.2.
meta operating system
__1.3. Purpose of ROS
__1.4. ROS configuration
__1.5. History of ROS
__1.6. ROS version
__1.7.
Version cycle
__1.8.
Select version
Chapter 2: Information Required for ROS 2-Based Robot Development
__2.1.
Community-centered development culture
__2.2.
Favorite ROS 2 information and development resources
__2.3. ROS Community Bulletin Board
__2.4. ROS Documentation
__2.5. ROS 2 source code
__2.6. ROS 2 Package Distribution Status
__2.7. ROS Questions and Answers
__2.8.
etc
Chapter 3: Building a ROS 2 Development Environment
__3.1.
Development environment
__3.2.
Install the basic operating system
__3.3.
Installing the robot operating system
__3.4. Installing ROS development tools
__3.5. ROS 2 build test
__3.6.
Set Run commands
__3.7.
Installing an integrated development environment (IDE)
__3.8. ROS 2 removal
Chapter 4: Why should we move to ROS 2?
__4.1.
Why should I move to ROS 2?
__4.2.
The trend is now ROS 2!
Chapter 5: Key Concepts of ROS 2
__5.1.
Why ROS 2?
Chapter 6: Features of ROS 2 as seen through the differences between ROS 1 and 2
__6.1. The Need for ROS 2 Development
__6.2. Differences between ROS 1 and ROS 2
__6.3. Features of ROS 2
Chapter 7 ROS 2 and DDS
__7.1. ROS 2 and DDS
__7.2. What is DDS?
__7.3. Features of DDS
__7.4. Usage in ROS
Chapter 8 DDS QoS
__8.1. DDS Quality of Service (QoS)
__8.2.
Types of QoS
__8.3. QoS options used in ROS 2
__8.4.
Using rmw_qos_profile and using user QoS profiles
__8.5.
QoS test
Chapter 9: Installing Packages and Running Node
__9.1.
Installing the Turtlesim package
__9.2.
What is Turtlesim?
__9.3.
Turtlesim package and nodes
__9.4.
Running nodes in the Turtlesim package
__9.5.
Query nodes, topics, services, and actions
__9.6.
Graph view of nodes and topics with rqt_graph
Chapter 10: ROS 2 Nodes and Data Communication
__10.1.
Node and message communication
__10.2.
Run node (ros2 run)
__10.3.
Node list (ros2 node list)
__10.4.
Node information (ros2 node info)
Chapter 11 ROS 2 Topics
__11.1.
Topic
__11.2.
Check the topic list (ros2 topic list)
__11.3.
Check topic information (ros2 topic info)
__11.4.
Check topic contents (ros2 topic echo)
__11.5.
Check topic bandwidth (ros2 topic bw)
__11.6.
Check topic cycle (ros2 topic hz)
__11.7.
Check topic delay (ros2 topic delay)
__11.8.
Topic Publish (ros2 topic pub)
__11.9.
bag record (ros2 bag record)
__11.10.
bag information (ros2 bag info)
__11.11.
bag play (ros2 bag play)
Chapter 12 ROS 2 Services
__12.1.
service
__12.2.
Check the service list (ros2 service list)
__12.3.
Check service type (ros2 service type)
__12.4.
Find Service (ros2 service find)
__12.5.
Service request (ros2 service call)
Chapter 13 ROS 2 Actions
__13.1.
Action
__13.2.
Action Server and Client
__13.3.
Node information (ros2 node info)
__13.4.
Action list (ros2 action list -t)
__13.5.
Action information (ros2 action info)
__13.6.
Communicate action goals
Chapter 14 ROS 2 Interface
__14.1. ROS 2 Interface
__14.2.
Message interface (msg)
__14.3.
Service interface (srv)
__14.4.
Action interface (action)
Chapter 15: Summary and Comparison of ROS 2 Topics/Services/Actions
__15.1.
Compare topics, services, and actions
Chapter 16 ROS 2 Parameters
__16.1.
Parameters
__16.2.
Check the parameter list (ros2 param list)
__16.3.
Check parameter contents (ros2 param describe)
__16.4.
Reading parameters (ros2 param get)
__16.5.
Write parameters (ros2 param set)
__16.6.
Saving parameters (ros2 param dump)
__16.7.
Delete parameter (ros2 param delete)
Chapter 17 ROS 2 Tools and CLI Commands
__17.1. ROS Tools
__17.2. ROS 2 CLI Commands
__17.3. How to use ROS 2 CLI
__17.4. ROS 2 CLI types and functions of each sub-verb
__17.5.
ROS 2 CLI is under continuous development
Chapter 18: RQt for ROS 2 GUI Development
__18.1. RQt, a comprehensive GUI tool for ROS
__18.2. RQt Framework
__18.3. Installing and Running RQt
__18.4. Types of RQt plugins
__18.5. Example of using RQt
__18.6. ROS CLI and GUI tools
Chapter 19 Standard Units of ROS 2
__19.1. The need for standard units in ROS 2
__19.2. Standard units of ROS 2
__19.3. Using standard units in ROS 2
Chapter 20 Coordinate Representation in ROS 2
__20.1. The need for unification of coordinate representation in ROS 2
__20.2.
Basic rules for representing coordinates
__20.3.
Axis Orientation Rules for Coordinate Representation
__20.4.
Rotation representation rules for coordinate representation
Chapter 21: Time in ROS 2
__21.1.
Clock and Time
__21.2.
Time Abstractions
__21.3.
Time API
Chapter 22 ROS 2's File System
__22.1.
file system
__22.2.
Packages and metapackages
__22.3.
Binary installation and source code installation
__22.4.
Default installation folder and user work folder
Chapter 23: ROS 2's Build System and Build Tools
__23.1.
Build systems and build tools
__23.2.
Build system
__23.3.
Build tools
__23.4.
Create a package
__23.5.
Build the package
__23.6.
Additional features required for the build system
Chapter 24 ROS 2 Package Files
__24.1.
package file
__24.2.
Package configuration file (package.xml)
__24.3.
Build settings file (CMakeLists.txt)
__24.4.
Python package configuration file (setup.py)
__24.5.
Python package configuration file (setup.cfg)
__24.6. RQt plugin configuration file (plugin.xml)
__24.7.
Package change log file (CHANGELOG.rst)
__24.8.
License file (LICENSE)
__24.9.
Package description file (README.md)


Part 2: ROS 2 Basic Programming
Chapter 1 ROS Programming Rules (Code Style)
__1.1.
Code Style Guide
__1.2.
Basic naming rules
__1.3.
C++ Style
__1.4.
Python Style
__1.5.
Other languages
Chapter 2: ROS Programming Basics (Python)
__2.1. Hello World of ROS, rclpy version
__2.2.
Create a package
__2.3.
Package settings
__2.4.
Creating a publisher node
__2.5.
Creating a subscriber node
__2.6.
Build
__2.7.
execution
Chapter 3 ROS Programming Basics (C++)
__3.1. Hello World of ROS, rclcpp version
__3.2.
Create a package
__3.3.
Package settings
__3.4.
Creating a publisher node
__3.5.
Creating a subscriber node
__3.6.
Build
__3.7.
execution
Chapter 4 ROS 2 Tips
__4.1.
setup script
__4.2.
setup.bash vs local_setup.bash
__4.3.
colcon_cd
__4.4. ROS_DOMAIN_ID vs Namespace
__4.5.
Added auto-completion for colcon and vcstool commands.
Chapter 5: Topic, Service, and Action Interfaces
__5.1. Creating a new ROS 2 interface
__5.2.
Creating an interface package
__5.3.
Package configuration file (package.xml)
__5.4.
Build settings file (CMakeLists.txt)
__5.5.
Build
Chapter 6 ROS 2 Package Design (Python)
__6.1.
Package design
__6.2.
Create a node
__6.3.
Package configuration file (package.xml)
__6.4.
Python package configuration file (setup.py)
__6.5.
Download and build the source code
__6.6.
execution
Chapter 7 Topic Programming (Python)
__7.1.
Topic
__7.2.
Topic Publisher Code
__7.3.
Topic Subscriber Code
__7.4.
Node execution code
Chapter 8 Service Programming (Python)
__8.1.
service
__8.2.
Service server code
__8.3.
Service client code
__8.4.
Node execution code
Chapter 9 Action Programming (Python)
__9.1.
Action
__9.2.
Action Server Code
__9.3.
Action client code
__9.4.
Node execution code
Chapter 10: Parametric Programming (Python)
__10.1.
Parameters
__10.2.
Parameter settings
__10.3.
How to use parameters (CLI)
__10.4.
How to use parameters (service client)
__10.5.
How to set basic parameters
Chapter 11: Programming Execution Arguments (Python)
__11.1.
Execution arguments
__11.2. Handling execution arguments in ROS 2
__11.3.
Parsing the syntax of execution arguments
Chapter 12 ROS 2 Package Design (C++)
__12.1.
Package design
__12.2.
Create a node
__12.3.
Package configuration file (package.xml)
__12.4.
Build settings file (CMakeLists.txt)
__12.5.
Download source code and build
__12.6.
execution
Chapter 13 Topic Programming (C++)
__13.1.
Topic
__13.2.
Topic Publisher Code
__13.3.
Topic Subscriber Code
__13.4.
Node execution code
Chapter 14 Service Programming (C++)
__14.1.
service
__14.2.
Service server code
__14.3.
Service client code
__14.4.
Node execution code
Chapter 15 Action Programming (C++)
__15.1.
Action
__15.2.
Action Server Code
__15.3.
Action client code
__15.4.
Node execution code
Chapter 16: Parameter Programming (C++)
__16.1.
Parameters
__16.2.
Parameter Server and Initialization
__16.3.
Parameter Client
Chapter 17: Programming Execution Arguments (C++)
__17.1.
Execution arguments
__17.2.
Execution argument code
__17.3. ROS 2 parameters and execution arguments
Chapter 18: Launch Programming (Python, C++)
__18.1. ROS 2 Launch System
__18.2.
Create launch
__18.3.
Build the package

Part 3: Advanced ROS 2 Programming
Chapter 1 Logging
__1.1.
Log
__1.2.
Log settings
__1.3.
Example code
Chapter 2 ROS 2 CLI
__2.1. ROS 2 CLI
__2.2. ROS 2 CLI Practice
__2.3. Quick start of ROS 2 CLI
__2.4. Using ROS arguments in CLI commands
__2.5.
How to write a new ROS 2 CLI
Chapter 3 Intra-process communication
__3.1. ROS Node and Nodelets
__3.2.
Intra-procedures communication
__3.3.
Demo code
Chapter 4 QoS
__4.1.
QoS (Quality of Service)
__4.2.
QoS settings for Topic, Service, and Action
__4.3.
QoS practice
__4.4.
Useful QoS Examples
Chapter 5 Components
__5.1.
Static linking and dynamic linking
__5.2.
Dynamic Loading and ROS 2 Components
__5.3.
Demo code
__5.4.
How to run
Chapter 6 RQt plugin
__6.1. RQt
__6.2. RQt plugin
__6.3. RQt development environment
__6.4. RQt plugin writing order
__6.5. Structure of the RQt example
__6.6. Looking at the RQt example UI
__6.7. Examining the RQt Example Settings File
__6.8. Examining the RQt example source code
__6.9. Running the RQt plugin example
__6.10.
Running an example of integrating with other nodes and RQt plugins
Chapter 7 Lifecycle
__7.1.
Node Management
__7.2.
Lifecycle
__7.3.
Demo code
Chapter 8 Security
__8.1. Security in ROS 2
__8.2. SROS2 (Secure Robot Operating System 2)
__8.3. Authentication, Access Control, and Encryption Features of ROS 2
__8.4.
Security vs. Performance
__8.5. ROS 2 Robotic Systems Threat Model
Chapter 9 Real-time
__9.1.
Definition of Real-time
__9.2.
Background knowledge about real-time
__9.3. ROS 2 Real-time
__9.4.
Demo code

What this book covers

- What is ROS?
- Introduction to important concepts and features of ROS 2, topics, services, actions, parameters, and the build system.
- ROS 2 Basic Programming (Learn basic programming from code style to topics, services, actions, parameters, etc.)
- Advanced ROS 2 Programming (Learn advanced features of ROS 2 such as logging, CLI, GUI, QoS, Component, Life cycle, and Security)

A word from readers

If you're studying ROS, this is the #1 must-read! I'm grateful to the authors for their hard work in creating this book, which provides a comprehensive overview of ROS 2, following the success of ROS 1.
- Kim Jae-hoon -

I had a really hard time learning ROS because there weren't many resources and it was difficult, but this course was a ray of light. Thank you! - Jeong Min-jae -

Dr. Pyo Yoon-seok, a pioneer in Korean open-source robotics software development, presents his second cotton seed: ROS 2 robot programming! I'm really looking forward to it.
- Jeong Hwan-seok -