![[ROS2 Mastery Part 6] Guide to Implementing Turtlesim Autonomous Driving Using Topic Communication](https://quad-drone-lab.co.kr/wp-content/uploads/2026/05/0517_์ธํฌ๊ทธ๋ํฝ-768x429.jpg)
Hello! Welcome to Part 6 of the ‘ROS2 Crash Course Master Series’, which is based on data from the QUAD Drone Lab and tailored for undergraduate students and researchers studying autonomous driving and robot system control in depth. In Parts 4 and 5, we studied the core of ROS2 communication by isolating the Publisher and…
์๋ ํ์ธ์! ์์จ์ฃผํ๊ณผ ๋ก๋ด ์์คํ ์ ์ด๋ฅผ ์ฌ๋ ์๊ฒ ์ฐ๊ตฌํ์๋ ๋ํ์ ๋ฐ ์ฐ๊ตฌ์ ์ฌ๋ฌ๋ถ. ์ฟผ๋(QUAD) ๋๋ก ์ฐ๊ตฌ์์ ์๋ฃ๋ฅผ ๋ฐํ์ผ๋ก ์งํ๋๋ ‘ROS2 ์์ฑ ๋ง์คํฐ ๊ณผ์ ’ ์ฐ์ฌ ๋ธ๋ก๊ทธ 6ํธ์ ์ค์ ๊ฒ์ ํ์ํฉ๋๋ค. ์ง๋ 4ํธ๊ณผ 5ํธ์์๋ ROS2 ํต์ ์ ํต์ฌ์ธ ๋ฐํ์(Publisher)์ ๊ตฌ๋ ์(Subscriber) ๋ ธ๋๋ฅผ ๊ฐ๊ฐ ๋ถ๋ฆฌํ์ฌ ํ์ตํ์ต๋๋ค. 4ํธ์์๋ ๊ฑฐ๋ถ์ด์๊ฒ ๋งน๋ชฉ์ ์ผ๋ก ์ด๋ ๋ช ๋ น(cmd_vel)์ ๋ด๋ฆฌ๋ ๊ฐ๋ฐฉํ ๋ฃจํ(Open-loop) ์ ์ด๋ฅผ ํด๋ณด์๊ณ , 5ํธ์์๋ ๊ฑฐ๋ถ์ด์ ํ์ฌ ์์น ์ ๋ณด(pose)๋ฅผ ์๋์ ์ผ๋ก…
![[ROS2 Mastery Part 5] ROS2 Topic Programming (2) – Receiving Location Information with a Subscriber](https://quad-drone-lab.co.kr/wp-content/uploads/2026/05/0516_์ธํฌ๊ทธ๋ํผ-768x429.jpg)
Hello! Welcome to the 5th post in our “ROS2 Crash Course” blog series, brought to you based on materials from the QUAD Drone Lab, for university students and researchers studying and developing autonomous mobile robots and system control. In our last post (Part 4), we learned how to write a Publisher nodeโthe core of ROS2…
์๋ ํ์ธ์! ์์จ์ฃผํ ๋ก๋ด๊ณผ ์์คํ ์ ์ด๋ฅผ ์ฐ๊ตฌํ๊ณ ๊ฐ๋ฐํ์๋ ๋ํ์ ๋ฐ ์ฐ๊ตฌ์ ์ฌ๋ฌ๋ถ. ์ฟผ๋(QUAD) ๋๋ก ์ฐ๊ตฌ์์ ์๋ฃ๋ฅผ ๋ฐํ์ผ๋ก ์งํ๋๋ ‘ROS2 ์์ฑ ๋ง์คํฐ ๊ณผ์ ’ ์ฐ์ฌ ๋ธ๋ก๊ทธ 5ํธ์ ์ค์ ๊ฒ์ ํ์ํฉ๋๋ค. ์ง๋ 4ํธ์์๋ ROS2 ํต์ ์ ํต์ฌ์ธ ๋ฐํ์(Publisher) ๋ ธ๋๋ฅผ ์์ฑํ์ฌ, ๊ฑฐ๋ถ์ด์๊ฒ ์ด๋ ๋ช ๋ น(cmd_vel)์ ๋ณด๋ด ์์ ๊ทธ๋ฆฌ๊ฒ ๋ง๋๋ ๋ฐฉ๋ฒ์ ํ์ตํ์ต๋๋ค. ์ด๋ฒ 5ํธ์์๋ ๊ทธ ๋ฐ๋์ ๊ฐ๋ ์ธ ๊ตฌ๋ ์(Subscriber) ๋ ธ๋๋ฅผ ์ง์ ํ๋ก๊ทธ๋๋ฐํด ๋ณด๊ฒ ์ต๋๋ค. ๋ก๋ด ์ ์ด์…
![[ROS2 Mastery Part 4] ROS2 Topic Programming (1) – Controlling the Turtle with a Publisher](https://quad-drone-lab.co.kr/wp-content/uploads/2026/05/0510_์ธํฌ๊ทธ๋ํฝ-768x429.png)
Hello, fellow students and researchers exploring the world of autonomous driving and robotics! In Part 3, we created an empty ROS2 package and built a very basic node that outputs logs over time using Python. Starting with this fourth installment, we will dive into the core of robot control: ‘Communication.’ In this first session, we…
์๋ ํ์ธ์! ์์จ์ฃผํ๊ณผ ๋ก๋ด ๊ณตํ์ ์ธ๊ณ๋ฅผ ํ๊ตฌํ์๋ ๋ํ์ ๋ฐ ์ฐ๊ตฌ์ ์ฌ๋ฌ๋ถ. ์ง๋ 3ํธ์์๋ ๋น์ด์๋ ROS2 ํจํค์ง๋ฅผ ์์ฑํ๊ณ , ํ์ด์ฌ(Python)์ผ๋ก ์๊ฐ์ ๋ฐ๋ผ ๋ก๊ทธ๋ฅผ ์ถ๋ ฅํ๋ ์์ฃผ ๊ธฐ๋ณธ์ ์ธ ๋ ธ๋(Node)๋ฅผ ๋ง๋ค์ด ๋ณด์์ต๋๋ค. ์ด๋ฒ 4ํธ๋ถํฐ๋ ๋ณธ๊ฒฉ์ ์ผ๋ก ๋ก๋ด ์ ์ด์ ํต์ฌ์ธ ‘ํต์ (Communication)’์ ๋ค๋ฃจ๊ฒ ๋ฉ๋๋ค. ๊ทธ ์ฒซ ๋ฒ์งธ ์๊ฐ์ผ๋ก ํ ํฝ(Topic) ํ๋ก๊ทธ๋๋ฐ์ ํตํด Turtlesim์ ๊ฑฐ๋ถ์ด๊ฐ ์์ ๊ทธ๋ฆฌ๋ฉฐ ์ค์ค๋ก ์์ง์ด๋๋ก ์ ์ดํ๋ Publisher(๋ฐํ์) ๋ ธ๋๋ฅผ ์ง์ ๊ตฌํํด ๋ณด๊ฒ ์ต๋๋ค. ์ ์ด…
![[ROS2 Mastery Part 3] A Guide to Creating Your First ROS2 Package and Programming a Python Node](https://quad-drone-lab.co.kr/wp-content/uploads/2026/05/0507_์ธํฌ๊ทธ๋ํฝ-768x512.png)
Welcome, undergraduate students and researchers majoring in robotics and studying autonomous driving and system control. Welcome to the third installment of the ‘ROS2 Fast Track Master Course’ blog series, based on materials from the QUAD Drone Research Lab. In Parts 1 and 2, we covered how to build a ROS2 Workspace, core communication concepts, and…
์๋ ํ์ธ์! ๋ก๋ด ๊ณตํ์ ์ ๊ณตํ๋ฉฐ ์์จ์ฃผํ๊ณผ ์์คํ ์ ์ด๋ฅผ ์ฐ๊ตฌํ์๋ ๋ํ์ ๋ฐ ์ฐ๊ตฌ์ ์ฌ๋ฌ๋ถ. ์ฟผ๋(QUAD) ๋๋ก ์ฐ๊ตฌ์์ ์๋ฃ๋ฅผ ๋ฐํ์ผ๋ก ์งํ๋๋ ‘ROS2 ์์ฑ ๋ง์คํฐ ๊ณผ์ ’ ์ฐ์ฌ ๋ธ๋ก๊ทธ 3ํธ์ ์ค์ ๊ฒ์ ํ์ํฉ๋๋ค. ์ง๋ 1ํธ๊ณผ 2ํธ์์๋ ROS2์ ์์ ๊ณต๊ฐ(Workspace)์ ๊ตฌ์ถํ๋ ๋ฐฉ๋ฒ๊ณผ ํต์ฌ ํต์ ๊ฐ๋ , ๊ทธ๋ฆฌ๊ณ ์ด๋ฅผ ์๊ฐํํด ์ฃผ๋ ๊ฐ๋ ฅํ ๋๊ตฌ์ธ RQT์ ํ์ฉ๋ฒ์ ๋ํด ์์๋ณด์์ต๋๋ค. ์ด๋ฒ 3ํธ์์๋ ๋๋์ด ์ฌ๋ฌ๋ถ์ ์์ผ๋ก ์ง์ ์ฝ๋๋ฅผ…
![[ROS2 Mastery #2] Understanding ROS2 Communication Nodes and Mastering RQT for Visualization](https://quad-drone-lab.co.kr/wp-content/uploads/2026/05/0505_์ธํฌ๊ทธ๋ํฝ-768x419.jpg)
Hello! I’m Aiden from the Marketing Team. To all the university students researching robotics and autonomous driving, and the researchers working hard in the fieldโdid you successfully finish building your ROS2 workspace in Part 1? Now, itโs time to connect the “neural network” so your robot system can breathe. Modern robot software isn’t just one…
์๋ ํ์ธ์! ๋ง์ผํ ํ์ ์์ด๋ (Aiden)์ ๋๋ค. ๋ก๋ด ๊ณตํ๊ณผ ์์จ์ฃผํ์ ์ฐ๊ตฌํ์๋ ๋ํ์, ๊ทธ๋ฆฌ๊ณ ํ์ฅ์์ ๊ตฌ์ฌ๋์ ํ๋ฆฌ์๋ ์ฐ๊ตฌ์ ์ฌ๋ฌ๋ถ. 1ํธ์์ ROS2 ์์ ๊ณต๊ฐ(Workspace)์ ๊ตฌ์ถํ๊ณ ๋น๋ํ๋ ๋ฐฉ๋ฒ์ ๋ฌด์ฌํ ๋ง์น์ จ๋์? ์ด์ ์ฌ๋ฌ๋ถ์ ๋ก๋ด ์์คํ ์ด ์จ์ ์ด ์ ์๋๋ก ‘์ ๊ฒฝ๋ง’์ ์ฐ๊ฒฐํด ์ค ์ฐจ๋ก์ ๋๋ค. ํ๋ ๋ก๋ด ์ํํธ์จ์ด๋ ๊ฑฐ๋ํ ํ๋์ ํ๋ก๊ทธ๋จ์ด ์๋๋ผ, ์๋ง์ ์์ ํ๋ก๊ทธ๋จ๋ค์ด ์๋ก ๋ฐ์ดํฐ๋ฅผ ์ฃผ๊ณ ๋ฐ์ผ๋ฉฐ ํ์ ํ๋ ๊ตฌ์กฐ๋ก ์ด๋ฃจ์ด์ ธ ์์ต๋๋ค. ์ด๋ฒ 2ํธ์์๋ ROS2์…
