Autonomous-Driving Middleware: ROS 2 & Cyber RT

Autonomous-Systems Middleware · 30 illustrated lessons (text/HTML)

Outcomes

• Build ROS 2 nodes, topics, services, launch files and QoS policies
• Write Cyber RT components, protos and scheduled tasks
• Integrate perception, localisation, planning and control modules

Where we teach this

• RTL-220 · Robotics & ROS 2 Middleware live cohort

The lessons

Every lesson in this curriculum, in the order we teach it.

• 1What is middleware?
• 2ROS 2 core concepts
• 3Installing ROS 2 and setting up the environment
• 4Your first ROS 2 program
• 5ROS 2 messages and services in practice
• 6ROS 2 parameter management and dynamic configuration
• 7The ROS 2 launch system
• 8ROS 2 toolchain in practice
• 9ROS 2 QoS policies explained
• 10ROS 2 and DDS
• 11Apollo Cyber RT overview
• 12Installing Cyber RT and setting up the development environment
• 13Cyber RT components and the communication model
• 14Creating your first Cyber RT component
• 15Cyber RT messages and protobuf
• 16Cyber RT timers and task scheduling
• 17Cyber RT parameter service and configuration files
• 18Cyber RT data recording and playback
• 19Cyber RT performance optimisation
• 20Hybrid ROS 2 and Cyber RT development
• 21Middleware integration for the perception module
• 22Middleware integration for the localisation module
• 23Middleware integration for the planning module
• 24Middleware integration for the control module
• 25Communication encryption
• 26Latency testing
• 27Containerised deployment: building Docker images, containerising ROS 2 and Cyber RT, and an introduction to Kubernetes orchestration
• 28Integrating the simulation environment
• 29Project: building a simple self-driving car middleware system
• 30Choosing middleware