ROS2 Humble
===========

  ⇒ Reason of ROS2 (T) 
  
      - Understanding the motivation and objectives behind the development of ROS2.
  
  ⇒ Key differences (T) 
  
      - Exploring key differences between ROS1 and ROS2.
  
  ⇒ New architecture (T) 
  
      - Introduction to the new architecture and design principles of ROS2.
  
  ⇒ Why DDS? and its Robustness and longevity! (T) 
  
      - Explanation of Data Distribution Service (DDS) and its importance in ROS2 communication.
  
  ⇒ ROS2 Control (Brief Overview) (T) 
  
      - Brief overview of ROS2 control mechanisms for robotic systems.
  
  ⇒ ROS2 Package Build (T) 
  
      - Building ROS2 packages for developing and deploying ROS2 applications.
  
  ⇒ ROS Bridge (T) 
  
      - Understanding ROS Bridge for communication between ROS1 and ROS2.
  
  ⇒ ROS2 Simulation (P) 
  
      - Simulating ROS2 environments and robotic systems.
  
  ⇒ ROS2 Create Package (P) 
  
      - Creating ROS2 packages for organizing and distributing ROS2 software.

ROS2 Nodes 
==========

  ⇒ ROS2 nodes (T/P) 
  
      - Understanding ROS2 nodes and their lifecycle in ROS2 applications.

.. figure:: media/figures/ros1_ros2_nodes.png
   :width: 100%
   :align: center
   :alt: ROS1_ROS2 Nodes

ROS2 Launch Files
=================

  ⇒ ROS2 launch files (T) 
  
      - Overview of ROS2 launch files for launching and configuring ROS2 nodes.
  
  ⇒ Create ROS2 Node (P) 
  
      - Creating custom ROS2 nodes for specific tasks.
  
  ⇒ Create ROS2 Launch file (P) 
  
      - Creating launch files for launching multiple ROS2 nodes simultaneously.
  
  ⇒ ROS2 Sensor Fusion (P) 
  
      - Implementing sensor fusion techniques in ROS2 for perception tasks.

ROS2 Parameters
===============

.. figure:: media/figures/r1r2.png

  ⇒ Item Differences (T) 
  
      - Discussing differences in ROS2 parameters, messages, services, and action servers compared to ROS1.
  
  ⇒ ROS2 Parameters (T/P) 
  
      - Explanation of ROS2 parameter server and usage of parameters in ROS2 nodes.
  
  ⇒ Create ROS2 Parameter Loading (P) 
  
      - Loading and using ROS2 parameters in ROS2 nodes.

ROS2 Msgs
=========

  ⇒ ROS2 Messages (T/P) 
  
      - Understanding the structure and use of messages in ROS2.
  
  ⇒ Creating Custom Messages (P) 
  
      - Defining and implementing custom message types for ROS2 applications.
  
  ⇒ Message Communication (T/P) 
  
      - Exploring message passing between ROS2 nodes and ensuring efficient data exchange.

ROS2 Services
=============

  ⇒ ROS2 Services (T/P) 
  
      - Overview of services in ROS2 and their role in synchronous communication.
  
  ⇒ Creating Custom Services (P) 
  
      - Defining and implementing custom services for specific tasks in ROS2.
  
  ⇒ Service Communication (T/P) 
  
      - Setting up and handling service requests and responses between ROS2 nodes.

.. figure:: media/figures/ros2_services.gif
   :width: 100%
   :align: center
   :alt: ROS2 Services

ROS2 Actions
============

  ⇒ ROS2 Actions (T/P) 
  
      - Understanding the concept of actions in ROS2 and their use in handling long-running tasks.
  
  ⇒ Creating Custom Actions (P) 
  
      - Defining and implementing custom action types for ROS2 applications.
  
  ⇒ Action Communication (T/P) 
  
      - Implementing action clients and servers to handle goals, feedback, and results.
  
.. figure:: media/figures/ros2_actions.gif
   :width: 100%
   :align: center
   :alt: ROS2 Actions

ROS2 Navstack
=============

  ⇒ Differences (T) 
  
      - Exploring differences between ROS1 and ROS2 navigation stacks.
  
  ⇒ Setup (P) 
  
      - Setting up ROS2 Navigation Stack for autonomous robot navigation.
  
  ⇒ Mapping (P) 
  
      - Mapping environments using ROS2 Navigation Stack.
  
  ⇒ Localization (P) 
  
      - Localizing robots within mapped environments using ROS2 Navigation Stack.
  
  ⇒ Planner Tuning (P) 
  
      - Tuning motion planners for efficient navigation using ROS2 Navigation Stack.
  
  ⇒ Custom Robot Integration (P) 
  
      - Integrating custom robot hardware with ROS2 Navigation Stack.
  
  ⇒ Debugging (P) 
  
      - Debugging and troubleshooting issues in ROS2 Navigation Stack.
  
  ⇒ Tools Usage (P) 
  
      - Utilizing tools and utilities for ROS2 Navigation Stack development.

.. figure:: media/figures/image57.gif
   :width: 80%
   :align: center
   :alt: ROS2 Navigation Stack

ROS2 Pitfalls
=============

  ⇒ Issues faced 
  
      - Sharing personal experiences and challenges encountered during ROS2 development.
  
  ⇒ Debugging 
  
      - Strategies and techniques for debugging ROS2 software and robotic systems.
  
  ⇒ Tools Usage 
  
      - Overview of useful tools and utilities for ROS2 development and debugging.