ROS 2 Hands-On

ROS2 Hands-On Exercises — Learning Plan

Sequence the practical ROS 2 lessons, labs, and debugging checkpoints.

Nav2 for AMRs — Mastery Plan

Dedicated deep track for costmaps, planners, controllers, BTs, recoveries, and AMR-grade debugging.

01 — Nodes, Topics, Services, Actions, Lifecycle

Build core ROS 2 communication patterns and lifecycle-aware node structure.

02 — TF2, Time Synchronization, and QoS

Understand transforms, timing, and transport choices that affect behavior.

03 — Nav2 Architecture: BehaviorTree, Costmaps, Planners, Controllers

Trace how planning, control, and behavior trees fit inside Nav2.

Exercise 01 — Publisher, Subscriber, and Timer

Implement a small node graph and verify the topic flow end to end.

Exercise 02 — TF2 Broadcaster

Publish transforms correctly and debug frame-tree consistency issues.

Exercise 03 — Action Server

Create a goal-driven workflow with feedback, cancelation, and result handling.

Exercise 04 — Nav2 Diagnostics

Investigate Nav2 runtime failures using logs, topics, transforms, and configuration.

04 — NavFn vs Smac Search Spaces

05 — Holonomic vs Non-Holonomic vs Underactuated

Exercise: Exercise01 — Publisher, Subscriber, Timer

Exercise: Exercise02 — TF2 Broadcaster and Listener

Exercise: Exercise03 — Action Server and Client

Exercise: Exercise04 — Nav2 Diagnostics: BT Traces and Parameter Tuning

Exercise: Exercise05 — Search Costs and Motion Models

Exercise: Exercise06 — Hybrid-A* and Minimum Turning Radius

Exercise: Exercise07 — Bellman-Ford, Dijkstra, and A* Interview Traps

Exercise: Exercise08 — Holonomic, Non-Holonomic, and Underactuated Interview Traps