Sensor publisher
Publish typed sensor samples and inspect rates, values and QoS behavior.
Course 03 · Free
ROS 2 Lyrical Luth
Follow the official ROS 2 learning sequence on its Tier 1 platform, Ubuntu 26.04, then build dependable C++ robot software.
- Duration
- 8 units · self-paced
- Prerequisite
- Ubuntu course and C++ Beginner
Learning outcomes
What you will be able to do
- Install and source ROS 2 correctly
- Inspect a running ROS graph
- Build nodes with rclcpp
- Choose topics, services and actions
- Create packages and interfaces
- Record and diagnose systems
Course outline
Lessons in order
- 01
Install and configure
Official apt packages for ROS 2 Lyrical Luth on Ubuntu 26.04, environment sourcing and domain settings.
Open lesson - 02
CLI and the ROS graph
Discover nodes, topics, services, parameters and actions with command-line tools.
Open lesson - 03
Nodes and topics
Create C++ nodes and exchange streaming data with publishers and subscribers.
Open lesson - 04
Services, parameters and actions
Use each communication pattern for the kind of work it fits.
Open lesson - 05
Launch, rosbag and diagnostics
Start complete systems, record data and investigate runtime behavior.
Open lesson - 06
Workspaces and packages
Build with colcon, structure ament_cmake packages and manage dependencies.
Open lesson - 07
Custom interfaces
Define and use messages, services and actions from C++ packages.
Open lesson - 08
C++ components
Composition, executors, callback groups and lifecycle-aware design.
Open lesson
Practice
Project examples
Navigation action
Build a cancellable action server with feedback and a C++ client.
Diagnosable robot stack
Launch multiple nodes, record a bag and trace an injected failure.
Documentation
Checked against primary sources
Verified September 2026. Links open the official documentation.