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Module 1: The Robotic Nervous System (ROS 2)

Welcome to the first module of the Physical AI & Humanoid Robotics Textbook! This module provides the foundational knowledge for working with ROS 2, the robotic operating system that connects all parts of your robot.

Overview​

In this module, you'll learn:

  • The fundamentals of Physical AI
  • How to transition from digital intelligence to physical robots
  • The current landscape of humanoid robotics
  • How to work with various sensor systems
  • The architecture of ROS 2
  • How to create nodes, topics, and services
  • How to build ROS 2 packages in Python
  • How to use launch files and parameters
  • How to describe robots with URDF

Prerequisites​

  • Basic understanding of programming concepts
  • Familiarity with Linux command line
  • Understanding of basic robotics concepts

Chapters​

This module contains 9 chapters that will take you from basic concepts to practical implementation:

  1. What is Physical AI?
  2. Digital to Physical Transition
  3. Humanoid Robotics Landscape
  4. Sensor Systems
  5. ROS 2 Architecture
  6. Nodes, Topics, Services, Actions
  7. Building ROS 2 Packages with Python
  8. Launch Files and Parameter Management
  9. URDF for Humanoids

Each chapter includes hands-on exercises, code examples, and assessments to reinforce your learning.