Building ROS 2 Robot Applications: From Single Nodes to Working Systems

Building a working robot application in ROS 2 involves more than wiring nodes together. The package structure, message design, threading model, and integration choices all shape whether the system stays reliable as it grows. This course walks through those decisions in a structured way you can apply to your own projects. You will work through written design exercises that mirror how a small robotics team would plan a ROS 2 application from individual nodes up to coordinated systems. The emphasis is on the practical tradeoffs that matter when projects grow beyond a single demo. What you'll learn: - Design ROS 2 nodes with clear responsibilities, well-defined interfaces, and predictable behavior - Apply message design patterns that support evolution without breaking downstream consumers - Use lifecycle nodes, executors, and quality of service settings to build robust systems - Integrate perception, planning, and control nodes into coordinated behaviors - Apply simulation in Gazebo and visualization in RViz as part of the development workflow - Plan testing strategies including unit tests for individual nodes and integration tests for behaviors The course progresses from individual nodes through messages, lifecycle, integration, simulation, and testing. A capstone written exercise asks you to draft a one-page design for a ROS 2 application targeted at a specific robot and task domain. This course is designed for software developers with some Python or C++ experience entering robotics, including students of computer science and engineering. No prior ROS experience is required. The course treats ROS application development as a craft you can learn through structured design practice.