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Foundations of Robot Operating System Architecture

Introduction to ROS and ROS 2 Architecture

Middleware Concepts in Distributed Robotic Systems

ROS 1 and ROS 2 Middleware Architectures

Core ROS Communication Interfaces

Nodes and the Computational Graph

Topics and Publish-Subscribe Communication

Services and Request-Response Communication

Actions and Long-Running Goal Management

Selecting Topics, Services, and Actions

ROS 2 Communication Behavior and System Inspection

Quality of Service Policies in ROS 2

Command-Line Tools for ROS System Interaction

Multi-Robot Communication and Standardized Software Stacks

Namespaces, Domains, and Multi-Robot Communication

Standardizing ROS Software Stacks for Robotic Development

Integrated ROS 2 Architecture Scenario

Quiz

Quiz Question 1: Nodes

Quiz Question 2: Topics

Quiz Question 3: Services and Actions

Quiz Question 4: ROS 1 and ROS 2

Quiz Question 5: Multi-Robot Systems

Survey and Feedback

Course Feedback Survey

Welcome to the "Fundamentals of ROS and ROS 2 Middleware Architecture" course. Are you ready to dive into the world of advanced robotics and master the industry-standard framework powering modern autonomous systems.

Welcome to the "Fundamentals of ROS and ROS 2 Middleware Architecture" course! Are you ready to dive into the world of advanced robotics and master the industry-standard framework powering modern autonomous systems? This comprehensive course is designed to take you from the foundational concepts of the Robot Operating System (ROS) to the advanced, production-ready architecture of ROS 2. Whether you are a robotics enthusiast, a software engineer transitioning into the robotics field, or a student looking to build a robust skill set, this course offers a deep dive into the middleware that makes complex robotic systems tick. You will explore the critical shift from ROS 1's master-based architecture to ROS 2's decentralized, DDS-backed discovery model. Through detailed modules, you will learn how to design and inspect computational graphs, master core communication interfaces like topics, services, and actions, and understand how to apply Quality of Service (QoS) policies for reliable data exchange. Furthermore, we will guide you through multi-robot communication, namespaces, and standardizing software stacks to ensure your robotic applications are scalable, maintainable, and ready for real-world deployment. By the end of this journey, you will possess the practical knowledge and architectural understanding required to build, debug, and deploy sophisticated distributed robotic systems using ROS 2. Join us and take the first step toward becoming a proficient robotics software developer today!

Fundamentals of ROS and ROS 2 Middleware Architecture

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            <p>The development of modern robotic systems relies heavily on robust, scalable, and standardized software frameworks to manage complex hardware and software interactions. This course, <em>Fundamentals of ROS and ROS 2 Middleware Architecture</em>, provides a comprehensive examination of the Robot Operating System (ROS), focusing on its architectural evolution and the critical role of middleware in distributed robotic environments. Learners will explore the foundational principles of ROS and the significant architectural shift toward ROS 2, which emphasizes production-oriented, decentralized systems powered by the Data Distribution Service (DDS). By understanding these underlying mechanics, participants will be equipped to navigate the complexities of node discovery, serialization, and transport that dictate communication behavior in advanced robotics.</p>

<p>Building upon these foundational concepts, the curriculum systematically breaks down the core communication interfaces essential for robotic operation, including nodes, topics, services, and actions. Participants will learn to analyze robotic communication requirements to select the appropriate interface for continuous data streams, synchronous requests, or long-running goal management. Furthermore, the course delves into advanced ROS 2 communication behaviors, such as configuring Quality of Service (QoS) policies and utilizing command-line tools for system inspection. Finally, the instruction addresses the complexities of multi-robot communication and the standardization of software stacks, culminating in an integrated architectural scenario that bridges theoretical knowledge with practical, scalable deployment strategies.</p>
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