ROS 2 Humble — Tutorials Repository

Personal repository for working through the official ROS 2 Humble Tutorials. Includes custom packages in both C++ and Python covering the core ROS 2 concepts.

Requirements

• With Docker — See the docker_ros submodule for setup instructions. Only supports machines with an Nvidia GPU.
• Without Docker — Install ROS 2 Humble on Ubuntu 22.04.

Setup

Clone the repository with submodules:

git clone --recurse-submodules git@github.com:luisluna01/ros_tutorial.git
cd ros_tutorials

Docker

This project can run with or without a docker container. The docker_ros submodule provides a ready-to-use ROS 2 Humble container. See the docker_ros README for full instructions.

To launch a container and enter a shell:

cd docker_ros
docker compose build # Build the docker image
docker compose up -d # Launch the docker container
docker exec -ti ros2_c bash # Open a shell in the container

To close the container, exit by pressing CTL+D and use the following command:

cd ..
docker compose down

Build

Source ROS 2, then build with colcon from the workspace root:

source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash

Author

Luis Luna