ROS2 for Beginners: Build Your First Robot with ESP32

Install ROS 2 on Ubuntu by choosing Foxy for 20.04 or Humble for 22.04, install the desktop suite, source the setup, and run a demo talker and listener.

Set up the ros2 environment by sourcing the foxy setup in bashrc, persist it across terminals, and verify ros2 topic list and the ros version and distro.

Learn to use the turtlesim simulator in ros2, install it via apt, run turtlesim, teleoperate the turtle, monitor topics with rqt, and call services like spawn and reset.

Explore how ros nodes function as modular entities with publishers, subscribers, services, and parameters, and learn to list, inspect, and remap nodes and topics using ros2 commands and rqt_graph.

Discover how ROS2 topics connect nodes as a bus, enabling publishers and subscribers to exchange messages. Learn to monitor, inspect, and publish on topics with turtlesim and cmd_vel.

Discover how ros services work in ros2, with clients sending requests and servers returning responses, and learn to list, inspect, and call services like clear and spawn in turtlesim.

Learn how ros2 parameters configure a node and can be changed in real time using ros2 param list, get, and set on the turtlesim node.

Discover how to build ros2 packages from source with colcon in a workspace, including overlay setup and --symlink-install for faster builds, then source install setup and run nodes.

Learn to create a customized ros package from scratch, including structure (cmake lists, include, package.xml, src), choosing build type (ament cmake), adding a c++ node, and building with colcon.

Learn to build a c++ ros2 publisher for a topic, configure dependencies, and run a talker node that publishes string messages, with code customization and topic inspection.

Create a ros2 subscriber in c++ with a callback to process data, configure package.xml and cmakelists, and align publisher and subscriber on a common topic named 'string message communication'.

Learn to add a Python publisher to a ROS 2 package, modify CMake for Python nodes, and run Python and C++ publishers on a string message topic alongside a subscriber.

Create a ROS2 launch file to run multiple nodes with one command, declare the launch directory, and configure package turtle with talker and listener executables.

Learn to use TF2 in ROS 2 to manage frames and compute transformations between frames, visualize relative poses with iris, and run a turtle-following demo to explore frames and quaternions.

Learn to connect ros2 to a joystick, wired or wireless, configure Xbox controller inputs, and publish to the turtle sim command velocity topic for teleoperation.

Set up micro ros on the ESP32 using Arduino, install ESP32 board support and the micro ros Arduino library, and run the micro ros agent to bridge ros2 topics.

Explore micro ros on the esp32 with arduino by implementing a publisher and subscriber for a command velocity topic and a timer-based publisher via serial or wifi transport.

Gather essential electronic components for the robot using the GitHub repo, circuit diagram, and purchase links from AliExpress or other sources, with motors set to 310 rpm.

Follow the circuit diagram to wire the ESP32, connecting M1 to motor A. Use flexible, thin wires that fit inside the robot's shell.

Find and print the robot parts using the GitHub repo's STL files; use the SolidWorks models to edit if needed, then 3D print with a slicer and assemble.

Explore controlling LEDs on an ESP32 using ROS2 with a single subscriber topic that turns LEDs off, left, right, or both based on input values.

Connects the ESP32 to a PC over wifi by enabling wifi and setting SSID, password, and IP address; demonstrates UDP communication and IP discovery with Nmap.

Learn to control an ESP32 servo with ros2 by installing the esp32 servo library, creating a ros2 subscriber, and publishing angle commands from 0 to 45 degrees through a topic.

Set up a ROS2 publisher on the ESP32 to stream battery percentage by reading pin 36 through a voltage divider, using a 100 ms timer and a map-to-percentage function.

Decode motor encoder ticks from left and right ESP32 pins, publish left and right encoder ticks with micro ros, and use odometry calculations for robot motion.

Publish and process velocity commands on the command velocity topic to steer an ESP32-driven robot. Use a subscriber, callback, and a simple motor speed calculation to move the robot.

Configure and control the turtle robot in turtle sim with an Xbox joystick, adjusting axis mappings, linear and angular scales, and turbo and enable buttons for personalized control.

Learn to build and control a robot with ros2 using a python node in an esp32-based package, establishing topic and leds server interactions and joystick-driven motion.

Launch the ESP32 ROS2 package with a single launch file, replacing three terminal commands. Define dependencies and a launch description to run microprocessor over UDP, publishing and subscribing to topics.

Recap the course by detailing how to set up a ROS framework, publish and subscribe with Python and C++, wire 3D printed parts, and bridge with Micro ROS for LEDs.

Explore the limitless possibilities of robotics as you fine-tune codes and designs for the flying turtle project, stay updated via GitHub and Cross Discourse Community, and seek help on Udemy.