rcljava_examples

realsense-ros:ros2-branch

ROS Wrapper for RealSense™ Cameras

examples/rclpy

Example packages for ROS 2

examples/rclcpp

Example packages for ROS 2

turtlebot2_demo

This repository provides a suite of demonstration applications for the TurtleBot 2 mobile robot using the ROS 2 (Robot Operating System 2) framework. It serves as a critical step in migrating robotics functionality from ROS 1 to the newer ROS 2 ecosystem, showcasing different porting strategies for existing components. ## Key Features - **Joystick Teleoperation** — Control the TurtleBot 2 using a gamepad controller for manual driving. - **Follower Demo** — Uses an Orbbec Astra depth camera to detect and follow objects in the environment. - **Cartographer Mapping** — Integrates Google Cartographer for real-time 2D SLAM (Simultaneous Localization and Mapping). - **AMCL Localization** — Provides Adaptive Monte Carlo Localization for robot positioning within a known map. - **Multi-Approach Porting** — Demonstrates four different techniques for migrating ROS 1 code to ROS 2, serving as a reference for developers. ## Philosophy The project is a practical exploration of ROS 2 migration, intentionally using multiple implementation strategies to discover best practices for porting robotics software from the ROS 1 ecosystem.