This chapter was an introductory chapter to ROS-2 and introduced us to its features and capabilities compared to ROS-1. We understood how different the build systems are and how the nodes are written. We also wrote custom nodes and compared them to how they're written in ROS-1. Since ROS-2 is under development, we also learned how to make use of ros1_bridge, which helps us use ROS-1 packages and tools alongside ROS-2. From the next chapter onward, we shall begin working with interesting robot projects using ROS-1.

In the next chapter, we will learn how to build an industrial mobile manipulator.