Robot Systems

Robot systems connect algorithms to hardware, sensors, and software interfaces. This chapter covers the infrastructure needed to run and debug robotics applications, including work with Stretch 3.

Topics include:

• ROS 2 nodes, topics, services, actions, and launch configurations.
• Robot descriptions, coordinate transforms, and calibration.
• Sensor interfaces, timestamps, synchronization, and data recording.
• Simulation, hardware bring-up, diagnostics, and debugging.

Examples connect these system components to complete tasks and experiments.