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Learn the basics of robotics through hands-on experience using ROS 2 and Gazebo simulation.
| Date | Stars |
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| 2026-07-25 | 2483 |
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<img src="images/course_banner.png" alt="Robotics & ROS 2 Essentials"/>
# 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](https://www.linkedin.com/in/ilkka-jormanainen-5954441/) at the [University of Eastern Finland](https://www.uef.fi/en), in collaboration with [Henki Robotics](https://henkirobotics.com/).
[<img src="images/uef_logo.jpg" alt="UEF Logo" width="200" height="190"/>](https://www.uef.fi/en)
[<img src="images/henki_robotics_logo.png" alt="Henki Robotics Logo" width="200" height="190"/>](https://henkirobotics.com/)
## 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](https://github.com/Ekumen-OS/andino_gz/tree/humble) 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.
<img src="images/autonomous_navigation.gif" alt="drawing" width="1200"/>
## 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!
0. [Setup](0-setup)
- Setup the exercises
- Run the Gazebo simulation
- Learn to use Docker
1. [ROS 2 Introduction](1-ros_2_introduction)
- ROS 2 introduction
- Gazebo and Rviz
- ROS 2 topics; publish and subscribe
- Transformations and tf-frames
2. [SLAM and Navigation Demo](2-slam_and_navigation_demo)
- Create a map using slam-toolbox
- Navigate autonomously using Nav2
- ROS 2 services
3. [Create your first ROS 2 package](3-create_ros_2_package)
- ROS 2 packages - how to create your own package
- Building and sourcing
- ROS 2 Nodes
4. [Robot Odometry](4-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
5. [Path Planning](5-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.
1. [Theme 1: Robotics in society](lecture_slides/theme_1_robotics_in_society)
2. [Theme 2: Robotics applications](lecture_slides/theme_2_robotics_applications)
3. [Theme 3: Robot control theory](lecture_slides/theme_3_robot_control_theory)
4. [Theme 4: Navigation](lecture_slides/theme_4_navigation)
5. [Theme 5: Robotics & AI](lecture_slides/theme_5_robotics_ai)
6. [Theme 6: XR applications in Robotics](lecture_slides/theme_6_xr_applications_robotics)
## 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](https://henkirobotics.com/):
- Janne Karttunen. [LinkedIn](https://www.linkedin.com/in/janne-karttunen-a22375209/).
[Github](https://github.com/Jannkar).
- George-Cosmin Porusniuc. [LinkedIn](https://www.linkedin.com/in/george-cosmin-porusniuc-89019a168Excerpt of 4,573 characters
Read on GitHub
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Jihye Sofia Seo · Switzerland
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Would you bet a product on this? Bounded 0–100 and slow moving.
matched fp:9b44bffcd8929010, topic:ros2, topic:slam, name:robotics