Additional Resources

Generally useful online tutorials

• Instructions for getting started with nav2, which uses a big launch file that could be a useful reference for creating launch files
• A more detailed overview of nav2
• A big list of tutorials from Automatic Addison, including the following.
  • Even more detailed guide to nav2
  • Short explanation of transforms
  • Writing an odometry publisher
• Guide for setting up a new robot, including
  • Transforms
  • Odometry
• Short explanation of ROS2 composition in the context of the Zed cameras
• Wikipedia page on conversion between Euler angles and Quaternions

Rosbags

Rosbags are used to record ROS data.

Basic tutorial | Advanced tutorials | Repo

Tools for working with rosbags (and ROS2 in general)

• PlotJuggler: Website | Repo
• This Medium post contains some other tools (potentially outdated)

Recording and playing back data using rosbags and plotjuggler

1. sudo apt install ros-${ROS_DISTRO}-plotjuggler-ros
2. Record the desired topics to some output folder: ros2 bag record <topics> -o <output_folder>

• Example: ros2 bag record /tf /cmd_vel -o test
• A default file name will be used if the -o option is not used
• Warning: Using ros2 bag record --all will usually result in gigantic file sizes

3. ros2 run plotjuggler plotjuggler
4. Load data or stream from current topics