Chapter 2: The Robotic Nervous System (ROS 2)

This chapter introduces students to the fundamentals of ROS 2, covering distributed robotics architecture, Python node development, URDF robot modeling, launch files, and AI-ROS integration patterns.

Learning Objectives

• Understand ROS 2 distributed architecture concepts (nodes, topics, services, actions).
• Develop ROS 2 nodes using rclpy (Python).
• Create URDF models for robotic systems.
• Utilize ROS 2 launch files for system orchestration.
• Explore patterns for integrating AI agents with ROS 2.

Modules

1. ROS 2 Architecture
2. Package Development
3. Python Nodes
4. Publishers and Subscribers
5. Services and Actions
6. URDF Basics
7. URDF Humanoid
8. Launch Parameters
9. AI-ROS Integration
10. Development Tools
11. Exercises
12. Self-Assessment