ROS 2 content update

README.md

@@ -4,10 +4,8 @@
 
 To complete this workshop please arrive with:
 * A basic understanding of Ubuntu Linux
-* A basic understanding of Python and C++
-* A laptop running either:
-  * [Ubuntu 18.04](https://releases.ubuntu.com/18.04) and [ROS Melodic](http://wiki.ros.org/melodic) or 
-  * [Ubuntu 20.04](https://releases.ubuntu.com/20.04) and [ROS Noetic](http://wiki.ros.org/noetic)
+* A basic understanding of Python and/or C++
+* A laptop running the ROS 2 distro [Humble](https://docs.ros.org/en/humble/index.html)
 * Please follow the [installation instructions here](./ros-installation.md)
   * Ask a mentor if you get stuck, and we'll be happy to help
 * Access to the Internet (you'll need to download 1-2 GB)
@@ -31,7 +29,7 @@ Topics:
 + Community
 + References
 
-### Complete the [ROS Beginners Tutorials][ros-tutorials]
+### Complete the [ROS Beginners Tutorials][ros-tutorials-beginner]
 Topics:
 + Directory structures for Catkin workspaces 
 + Creating packages
@@ -45,7 +43,7 @@ Topics:
 + Using `rviz`
 + Using `roslaunch` 
 
-### Complete the [ROS Intermediate Tutorials][ros-tutorials]
+### Complete the [ROS Intermediate Tutorials][ros-tutorials-intermediate]
 Topics:
 + Creating a new package by hand
 + Managing dependencies
@@ -204,4 +202,5 @@ source devel/setup.bash
 
 [ros-cmakelists]: http://wiki.ros.org/catkin/CMakeLists.txt
 [ros-custom-msg]: http://wiki.ros.org/ROS/Tutorials/DefiningCustomMessages
-[ros-tutorials]: http://wiki.ros.org/ROS/Tutorials
+[ros-tutorials-beginner]: https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools.html
+[ros-tutorials-intermediate]: https://docs.ros.org/en/humble/Tutorials/Intermediate.html

ros-installation.md

@@ -29,7 +29,7 @@ Follow the instructions above to create a Ubuntu Live USB Stick. Boot from the U
 
 ***WARNING*** Make sure you have a backup of your computer before attempting any dual-boot installations as it is very easy to accidentally damage or delete all data on your laptop. 
 
-There are plenty of tutorials on the internet, e.g. [here](https://medium.com/linuxforeveryone/how-to-install-ubuntu-20-04-and-dual-boot-alongside-windows-10-323a85271a73).  
+There are plenty of tutorials on the internet, e.g. [here](https://www.linuxtechi.com/dual-boot-ubuntu-22-04-and-windows-11/).  
 
 Summary: Boot from an Ubuntu Live USB Stick, select install and choose _"Install Ubuntu alongside Windows Boot Manager”_. 
 
@@ -40,9 +40,9 @@ There are many Virtual Machines solutions, such as [VirtualBox](https://www.virt
 
 <details><summary>VirtualBox Installation</summary>
 
-Steps for installing Virtual Box 6.1.32 (as of Jan 2022):
+Steps for installing Virtual Box 7.0.14 (as of Mar 2024):
 1. Download and install VirtualBox for your relevant platform from https://www.virtualbox.org/wiki/Downloads
-2. Install the extension to enable USB and other functionalities from https://download.virtualbox.org/virtualbox/6.1.32/Oracle_VM_VirtualBox_Extension_Pack-6.1.32.vbox-extpack
+2. Install the extension to enable USB and other functionalities from https://download.virtualbox.org/virtualbox/7.0.14/Oracle_VM_VirtualBox_Extension_Pack-7.0.14.vbox-extpack
 3. In Step 2, it will open up VirtualBox and ask permission to continue the installation. Continue to do so.
 4. In VirtualBox, create a new VM for Ubuntu.
 5. Choose the guest OS architecture: (64-bit, Ubuntu)
@@ -72,4 +72,4 @@ Docker provides containerisation that allows different versions of Linux to run
 
 ## Installing ROS
 
-Once you have Ubuntu installed, follow the instructions for "Desktop - Full Install" on the ROS Wiki [here](http://wiki.ros.org/noetic/Installation/Ubuntu). Once you've installed ROS, you should install Catkin tools with `sudo apt-get install python3-catkin-tools`.
+Once you have Ubuntu installed, follow the instructions for "Desktop - Full Install" on the ROS 2 Wiki [here](https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Install-Binary.html). 

ros-introduction.md

@@ -17,21 +17,34 @@ Let's have a brief look at each of these levels.
 Consists of concepts which tell how a ROS system is formed, including its
 folder structure and the minimum number of files it needs to work with.
 
-![ROS_Filesystem](./images/ROS_Filesystem_Architecture.png)
-
-- **Useful Commands** : [`rospack`][cmd-rospack], [`catkin_create_pkg`][cmd-catkin_create_pkg], [`catkin build`][cmd-catkin-build], [`rosdep`][cmd-rosdep], [`roscd`][cmd-roscd], [`rosed`][cmd-rosed], [`roscp`][cmd-roscp], [`rosd`][cmd-rosd], [`rosls`][cmd-rosls]
-- **More information**: http://wiki.ros.org/ROS/Concepts#ROS_Filesystem_Level
+![ROS_Filesystem](./images/ROS_Filesystem_Architecture.drawio.png)
+#### **More information**
+* Tutorial for setting up a workspace: https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html
+* Recommendations for a filesystem layout: https://docs.ros.org/en/humble/The-ROS2-Project/Contributing/Developer-Guide.html#filesystem-layout
+
 
 ### Computational Graph
 
-Provides information about how various components in a ROS project come
-together to perform an action. Primarily, this level tells us how ROS sets up
-and handles the communication between various processes.
+Provides information about how various components in a ROS project come together to perform an action. 
+Primarily, this level tells us how ROS sets up and handles the communication between various processes.
+
+![ROS Computational Graph](./images/ROS_Computational_Graph.drawio.png)
+
+#### More information
+* Understanding **nodes**: https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Nodes/Understanding-ROS2-Nodes.html
+* Understanding **topics**: https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.html
+* Understanding **services**: https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Services/Understanding-ROS2-Services.html
+* Understanding **messages**: https://docs.ros.org/en/humble/Concepts/Basic/About-Interfaces.html#messages
+* Understanding **parameters**: https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Parameters/Understanding-ROS2-Parameters.html
+* Understanding **actions**: https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.html
+* Recording and reading from **bag** files: https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.html
 
-![ROS Computational Graph](./images/ROS_Computational_Graph.png)
 
-- **Useful Commands** : [`roscore`][cmd-roscore], [`rosnode`][cmd-rosnode], [`rostopic`][cmd-rostopic], [`rosrun`][cmd-rosrun], [`rosservice`][cmd-rosservice], [`rosmsg`][cmd-rosmsg], [`rosbag`][cmd-rosbag]
-- **More information**: http://wiki.ros.org/ROS/Concepts#ROS_Computation_Graph_Level
+### Useful Commands
+* [`ros2`][cmd-ros2]: CLI tool that performs common ROS 2 actions. <br>
+https://github.com/ubuntu-robotics/ros2_cheats_sheet/blob/master/cli/cli_cheats_sheet.pdf
+* [`colcon`][cmd-colcon]: CLI tool used for building and testing ROS workspaces (supersedes `catkin`). <br>
+https://github.com/ubuntu-robotics/ros2_cheats_sheet/blob/master/colcon/colcon_cheats_sheet.pdf
 
 ### Community
 
@@ -58,22 +71,5 @@ ROS community to contribute via documentation updates, tutorials, etc. (http://w
     - James Madison University Robotics Lab : [ROS Kinetic Cheatsheet](https://w3.cs.jmu.edu/spragunr/CS354/handouts/ROSCheatsheet.pdf)
 
 
-[cmd-rospack]: http://wiki.ros.org/rospack?distro=noetic
-[cmd-catkin_create_pkg]: http://wiki.ros.org/catkin/commands/catkin_create_pkg
-[cmd-catkin-build]: https://catkin-tools.readthedocs.io/en/latest/installing.html 
-[cmd-rosdep]: http://wiki.ros.org/rosdep
-[cmd-roscd]: http://wiki.ros.org/rosbash?distro=noetic#roscd
-[cmd-rosed]: http://wiki.ros.org/rosbash?distro=noetic#rosed
-[cmd-roscp]: http://wiki.ros.org/rosbash?distro=noetic#roscp
-[cmd-rosd]: http://wiki.ros.org/rosbash?distro=noetic#rosd
-[cmd-rosls]: http://wiki.ros.org/rosbash?distro=noetic#rosls
-
-[cmd-roscore]: http://wiki.ros.org/roscore
-[cmd-rosnode]: http://wiki.ros.org/rosnode?distro=noetic
-[cmd-rostopic]: http://wiki.ros.org/rostopic?distro=noetic
-[cmd-rosrun]: http://wiki.ros.org/rosbash?distro=noetic#rosrun
-[cmd-rosservice]: http://wiki.ros.org/rosservice?distro=noetic
-[cmd-rosmsg]: http://wiki.ros.org/rosmsg?distro=noetic
-[cmd-rosbag]: http://wiki.ros.org/rosbag?distro=noetic
-
-
+[cmd-ros2]: https://github.com/ros2/ros2cli/tree/humble
+[cmd-colcon]: https://github.com/colcon/colcon-core