robotics_essentials_ros2

henki-robotics更新放缓

用 ROS 2 和 Gazebo 仿真带你动手入门机器人开发，覆盖导航、里程计、路径规划与 SLAM 等核心环节。

Learn the basics of robotics through hands-on experience using ROS 2 and Gazebo simulation.

暂无版本2,714star302fork同步于 2026-11-07 07:32 UTC

ROS 2 Gazebo 仿真 SLAM 路径规划机器人导航

对比 GitHub 官网 course navigation odometry path-planning ros2

怎么上手

由 README 提炼，执行前请确认

原文

cd 0-setup

硬件要求按 README 说明

README 未说明具体硬件要求；所有练习通过 Docker 运行，无需在本机安装 ROS 2。

下载：源码 zip·GitHub Releases（安装包）本站不镜像安装包

项目说明

由 README 自动翻译提炼

没人工点评？写下你的经验

用 ROS 2 和 Gazebo 仿真做动手练习，零基础学机器人导航与建图

用 ROS 2 和 Gazebo 仿真带你动手入门机器人开发，覆盖导航、里程计、路径规划与 SLAM 等核心环节。

核心能力

通过 Docker 运行，无需预先安装 ROS 2
基于 Andino 机器人做 Gazebo 仿真练习
用 slam-toolbox 建图、Nav2 自主导航
从零创建 ROS 2 包并编写 Python 节点
用轮速计算并发布机器人里程计

容易踩的坑

所有练习依赖 Docker，需先完成 0-setup 并确保 Docker 可用；练习需按 0 到 5 的顺序逐个进行；仿真基于 Andino 机器人仓库的 humble 分支。

内容由模型根据 README 生成，可能不完整或不准确，以官方文档为准。看原文 README

用户点评

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README 原文

未翻译

在 GitHub 打开

Robotics & ROS 2 Essentials

Welcome to an open-source repository that contains materials and exercises needed to learn the essential robotics skills using ROS 2.

This material is implemented for the 2024 iteration of the Master's level "Robotics & XR" course taught by Dr. Ilkka Jormanainen at the University of Eastern Finland, in collaboration with Henki Robotics.

Course overview

This course is designed to give you hands-on experience with the basics of robotics using ROS 2 and Gazebo simulation. The exercises focus on the Andino robot from Ekumen and are structured to gradually introduce you to ROS 2 and Docker.

No prior experience with ROS 2 or Docker is needed, and since everything runs through Docker, you won’t need to install ROS 2 on your system beforehand. Along the way, you’ll learn essential concepts like autonomous navigation and mapping for mobile robots. All the practical coding exercises are done in Python.

Exercises

This repository contains a set of exercises to learn the core concepts taught over the course through practical demos and coding exercises. Start from the exercises "0 - Setup" and follow the exercises one by one to learn the basics of robotics and ROS 2!

Setup
- Setup the exercises
- Run the Gazebo simulation
- Learn to use Docker
ROS 2 Introduction
- ROS 2 introduction
- Gazebo and Rviz
- ROS 2 topics; publish and subscribe
- Transformations and tf-frames
SLAM and Navigation Demo
- Create a map using slam-toolbox
- Navigate autonomously using Nav2
- ROS 2 services
Create your first ROS 2 package
- ROS 2 packages - how to create your own package
- Building and sourcing
- ROS 2 Nodes
Robot Odometry
- Calculate and publish your robot's odometry using wheel velocities
- Robot odometry and how to calculate it
- Publish and subscribe to topics from Python code
Path Planning
- Basic navigation concepts
- Modify Nav2 parameters
- Custom path planning using Nav2

Lecture slides

These slides accompany the practical exercises included in this repository and are meant to be covered at the same time.

Contribute

Did you encounter a problem during your exercises, or did you find a mistake? Report issues in the "Issues" section in GitHub, and we will help you.

If you've found a fix to an existing issue, you can open a new Pull Request to fix it and contribute to this course. We highly appreciate all the contributions!

Maintainers

This course and repository is maintained by the main team members and co-founders of Henki Robotics Oy:

Janne Karttunen. LinkedIn. Github.
George-Cosmin Porusniuc. LinkedIn. Github.

Acknowledgements

We want to thank the following individuals for helping us in developing part of the material for this course and for providing support with teaching the in-person version of the course during the "Robotics & XR" Master's level course at the "University of Eastern Finland", in 2024 and 2025: