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Module 1: ROS 2 Basics

Overview​

Welcome to Module 1 of the Physical AI & Humanoid Robotics Book! This module introduces you to the fundamentals of ROS 2 (Robot Operating System 2), the middleware that powers modern robotics applications.

Learning Objectives​

By the end of this module, you will be able to:

  • Understand the core concepts of ROS 2 architecture (Nodes, Topics, Services)
  • Create and run basic ROS 2 nodes using Python (rclpy)
  • Work with ROS 2 messages, publishers, and subscribers
  • Understand and create URDF (Unified Robot Description Format) files for humanoid robots
  • Set up and configure a ROS 2 development environment

Module Structure​

This module is organized into the following sections:

  1. ROS 2 Core Concepts - Understanding the fundamental architecture of ROS 2
  2. Python Control with rclpy - Programming ROS 2 nodes in Python
  3. URDF Basics for Humanoids - Representing robots in ROS 2
  4. ROS 2 Humble Setup - Step-by-step installation and configuration guide
  5. Architecture Diagrams - Visual representations of ROS 2 concepts

Prerequisites​

Before starting this module, you should have:

  • Basic programming experience in Python
  • Familiarity with Linux command line
  • Understanding of basic robotics concepts (optional but helpful)

Getting Started​

Begin with the ROS 2 Core Concepts section to understand the fundamental architecture of ROS 2 systems.