ROS is the most popular framework for programming robots. It provides a communication layer, tools, and libraries to help you build robot quickly. This section covers the basics you need to know in order to understand how to use ROS to make a robot, simulate it in gazebo classic, and verify it in physical hardware.

This tutorial assumes that you have set up ROS2 humble on your computer and that you have basic understanding of how ROS framework works. The best place to get familiar with ROS is its official documentation. After the documentation, these posts might be helpful.

  1. Transforms (tf2) in ROS October 03, 2025
  2. URDF, Robot Description, and Robot State Publisher October 03, 2025
  3. Simulating a Simple 2DoF Planar Arm October 05, 2025