Non-Débutant: Si vous êtes déjà assez familier avec ROS fuerte ou des versions antérieurs et souhaitez seulement explorer le nouveau système de construction pour groovy et hydro appelé catkin, vous pouvez passer directement au tutoriel catkin ici. Cependant il est toujours bon de réviser ses fondamentaux et les tutoriels Niveau Débutant permettent de découvrir toutes les nouvelles fonctionnalités.

Si vous êtes nouveau sur Linux: Vous trouverez peut-être utile de commencer par faire un rapide tutoriel sur les outils communs en ligne de commande pour Linux. Un bon estici.

Niveau Débutant

1. Installation et Configuration de Votre Environment ROS

   Ce tutoriel vous guide à travers l'installation de ROS et la configuration de votre environnement ROS pour votre ordinateur.

2. Navigation dans le Système de fichier ROS

   Ce tutoriel introduit les concepts du système de fichiers ROS, et couvre l'usage des commandes de roscd, rosls,et rospack

3. Créer un package ROS

   Ce tutoriel présente l'utilisation de roscreate-pkg ou catkin pour créer un nouveau package et rospack pour lister les dépendances des packages.

4. Construire un package ROS

   Ce tutoriel détaille la création d'un package ROS à l'aide d'un ensemble d'outils ROS.

5. Comprendre les 'nodes' ROS

   Ce tutoriel introduit les concepts de ROS graph et l'utilisation des outils en ligne de commande roscore, rosnode, et rosrun.

6. Comprendre les Topics ROS

   Ce tutoriel introduit les concepts de Topics sous ROS ainsi que l'utilisation des outils en ligne de commande rostopic et rqt_plot.

7. Comprendre les services et paramètres ROS

   Ce tutoriel introduit les concepts de services et de paramètres sous ROS, ainsi que l'utilisation des outils en ligne de commande rosservice et rosparam.

8. Using rqt_console and roslaunch

   This tutorial introduces ROS using rqt_console and rqt_logger_level for debugging and roslaunch for starting many nodes at once. If you use ROS fuerte or ealier distros where rqt isn't fully available, please see this page with this page that uses old rx based tools.

9. Using rosed to edit files in ROS

   This tutorial shows how to use rosed to make editing easier.

10. Creating a ROS msg and srv

    This tutorial covers how to create and build msg and srv files as well as the rosmsg, rossrv and roscp commandline tools.

11. Writing a Simple Publisher and Subscriber (C++)

    This tutorial covers how to write a publisher and subscriber node in C++.

12. Writing a Simple Publisher and Subscriber (Python)

    This tutorial covers how to write a publisher and subscriber node in python.

13. Examining the Simple Publisher and Subscriber

    This tutorial examines running the simple publisher and subscriber.

14. Writing a Simple Service and Client (C++)

    This tutorial covers how to write a service and client node in C++.

15. Writing a Simple Service and Client (Python)

    This tutorial covers how to write a service and client node in python.

16. Examining the Simple Service and Client

    This tutorial examines running the simple service and client.

17. Recording and playing back data

    This tutorial will teach you how to record data from a running ROS system into a .bag file, and then to play back the data to produce similar behavior in a running system

18. Reading messages from a bag file

    Learn two ways to read messages from desired topics in a bag file, including using the ros_readbagfile script.

19. Getting started with roswtf

    Basic introduction to the roswtf tool.

20. Navigating the ROS wiki

    This tutorial discusses the layout of the ROS wiki (wiki.ros.org) and talks about how to find what you want to know.

21. Where Next?

    This tutorial discusses options for getting to know more about using ROS on real or simulated robots.

See also:

• ROS Tutorial Video Demos at ANU

• NooTriX Step-by-Step ROS Tutorials

Now that you have completed the beginner level tutorials please answer this short questionnaire.

Niveau Intermédiaire

More client API tutorials can be found in the relevant package (roscpp, rospy, roslisp)

1. Creating a ROS package by hand.

   This tutorial explains how to manually create a ROS package.

2. Managing System dependencies

   This explains how to use rosdep to install system dependencies.

3. Roslaunch tips for large projects

   This tutorial describes some tips for writing roslaunch files for large projects. The focus is on how to structure launch files so they may be reused as much as possible in different situations. We'll use the 2dnav_pr2 package as a case study.

4. Running ROS across multiple machines

   This tutorial explains how to start a ROS system using two machines. It explains the use of ROS_MASTER_URI to configure multiple machines to use a single master.

5. Defining Custom Messages

   This tutorial will show you how to define your own custom message data types using the ROS Message Description Language.

6. Using a C++ class in Python

   This tutorial illustrates a way to use a C++ class with ROS messages in Python.

7. Packaging your ROS project as a snap

   This tutorial covers how to package and deploy your ROS project as a snap.

8. How to Write a Tutorial

   This tutorial covers useful template and macros for writing tutorials, along with example tutorials that are available for guidance on ros.org

Using ROS on your custom Robot

• Create your own URDF file Creating a custom Universal Robot Description Format file

• ros_control Use ROS's standard controller framework for interfacing with hardware.

• Using a URDF in Gazebo Add the necessary tags to get your robot in the Gazebo robotic simulator

• Setting up MoveIt! Creating the configuration package to use the MoveIt! Motion Planning Framework

Tutorials pour d'autres bibliothèques

• actionlib

• pluginlib

• Stage

• TF

• nodelet

• visualization/RViz

• navigation

• PCL with ROS

• Robot model

ROS Standards

• ROS Developers Guide Guidelines for coding style, package layout and much more

• Standard Units of Measure and Coordinate Conventions