ENME480 · Wiki

ROS 2 Tutorials

These are copies of the official ROS 2 Humble tutorials, reproduced word for word so you can read them without leaving the course site. They are the same pages the ROS documentation serves, and each one links back to its original.

Read these to understand why things work the way they do. They are not the assignment. What you have to do for credit is on the Week 3 lab page, and the steps there are written for our Docker setup, which differs from the tutorials in a few places.

Where these differ from our setup

The tutorials tell you to create a workspace at ~/ros2_ws. Do not do that. Your workspace already exists at ~/enme480_ws, and it is the only place your work survives when the container shuts down. See Week 3, Part D.

They also have you create a package from scratch with ros2 pkg create. We have already done that for you in the enme480_week3 package, so you can skip straight to writing node code.

The tutorials

Tutorial	What it covers
Creating a workspace	What a workspace is, overlays and underlays, sourcing, colcon build
Creating your first ROS 2 package	What a package is, package.xml, setup.py, entry points
Writing a simple publisher and subscriber	The talker/listener pattern in Python, line by line
Understanding topics	ros2 topic list, echo, info, pub, and rqt_graph

If you only read one, read Writing a simple publisher and subscriber. It explains every line of the talker, which is the pattern both of your Week 3 nodes are built from.

Licence and attribution

The ROS 2 documentation is copyright Open Robotics and is licensed under Creative Commons Attribution 4.0 International, which permits redistribution with attribution. These pages are unmodified copies retrieved on 15 September 2026, each carrying a link to its source.

Upstream may have changed since. For the current version, follow the source link at the top of any of these pages, or start at docs.ros.org/en/humble.