At the end of this section you’ll be able to write and run your own ROS 2 programs (nodes).

I will explain what is a ROS 2 node, and then you’ll directly create one. To setup a new node you will:

• Create a ROS 2 workspace in your home directory.

• Create a Package inside this workspace.

• Write a node inside the package, set it up, compile it and run it.

As you can see lectures are duplicated for Python and Cpp. I start with Python, then do the same thing with Cpp, so you can learn with both languages, and see the similarities and differences between a Python ROS 2 program and a Cpp ROS 2 program.

At the end of the section you’ll be able to download the complete workspace with all the code for both languages.

Even if you want to learn ROS 2 with only one language, I encourage you to at least watch the lectures for the other language. The repetition - in a different way - of explanations for a new concept is a great way to retain more information, and get a better understanding.

And now, go to the next lecture to create your ROS 2 workspace!