Guided workspace

Build one workspace, lab by lab.

Start on Ubuntu 26.04, create ~/robot_ws, then add C++ nodes, communication, robot descriptions and simulated control.

~/robot_ws/
├── src/
│   ├── robot_basics/
│   ├── robot_topics/
│   ├── robot_interfaces/
│   ├── robot_bringup/
│   └── training_arm_description/
├── build/
├── install/
└── log/

1. 01

   Install ROS 2 Lyrical

   Prepare Ubuntu 26.04 and install the supported ROS 2 desktop packages. · 45 min

   Open lab
2. 02

   Create the robotics workspace

   Build a clean colcon overlay at ~/robot_ws and understand each generated directory. · 35 min

   Open lab
3. 03

   Build an ament C++ package

   Create a package with declared dependencies and an installable rclcpp executable. · 60 min

   Open lab
4. 04

   C++ publisher and subscriber

   Exchange typed state over a topic and inspect the graph, rate and QoS. · 90 min

   Open lab
5. 05

   Services and motion actions

   Use services for short requests and actions for cancellable, feedback-producing work. · 2 hours

   Open lab
6. 06

   Launch and parameters

   Start a repeatable robot system and load reviewed limits from YAML. · 75 min

   Open lab
7. 07

   tf2, URDF and xacro

   Describe a small arm, publish its state and verify every coordinate frame. · 2 hours

   Open lab
8. 08

   ros2_control and diagnostics

   Connect a simulated arm to controller_manager, command a trajectory and record evidence. · 2–3 hours

   Open lab