A good starting point for ROS2 in today's OS world?

[jimrh]

@cyclicalobsessive
I haven’t been around much - things have been busy here since springtime, (my brother has moved to assisted living, Wife and her sister have been sick, etc.) - but I have been doing a great deal of theoretical modeling of my various robot projects, trying to come up with a relatively decent unified model.

So far I have a bunch of isolated projects, (like my display stuff), that are all fragmented. My new goal is to come up with a structural framework that will allow me to build ONE framework that I can hang everything on - or remove it - without having to rebuild a structural layer each time.

I have come to the conclusion that the best choice for my “next stage” of robot research is to use ROS-2 as the underlying chassis - build ONE framework and add projects/nodes/whatever to it as my research needs change.

Since things have changed greatly since the last time I asked about ROS, what do you recommend as the new starting point? The latest Raspberry PI O/S? The latest Ubuntu?

Do you know of any authoritative sources that I can use to learn about ROS?

Thanks!

Jim

P.S.
I haven’t had much time for flying either. . . .

[cyclicalobsessive]

Personally, I think ROS 2 is a terrible base for functionality that was not originally built with the ROS nodes/topics/publisher/subscriber/services/actions with multi-threaded executors and call-back groups.

Additionally the current ROS 2 FastDDS Discovery Server hogs the processor briefly causing time critical nodes to shat all over the floor (as in ask for /battery_status from the command line while Nav2 is navigating from the kitchen to the bathroom, and Nav2 will not reach the bathroom).

If you insist on learning ROS 2, the ROS 2 tutorials (for Jazzy) are the best path to get started

Tutorials

ps. Dave and WaLI are not allowed to visit the bathrooms, as there are carpeted areas to be crossed. Don’t want them leaving a mess on the carpets.