What are the most essential ROS packages for robotics setup?

I am a bit surprised by the fact that this project is for ROS and not ROS2.However I would like to add that about some of these packages is good to know from the beginning because it provides an overview of the project;rqt- a GUI framework for development with many functionalities and many plugins; tf/tf2 for keeping track of the coordonates over time; rosmsg/rossrv - essential for info about ROS message and service types and therefore inter-node communication.

ROS Core comprises the Robot Operating System's core software components. It helps robots do complicated tasks efficiently and reliably by providing communication, parameter management, logging, and master management. ROS Core includes the master node roscore, logging and debugging server rosout, parameter server, master discovery, and tools and utilities for managing nodes, launching systems, monitoring performance, and interfacing with the environment. ROS Core standardisation, decoupling, and open-source nature enable flexible and modular robot development. Its free and open-source nature encourages collaboration and fast robot software development.

ROS Navigation is ROS's robot navigation software. Path planning, localization, motion control, and obstacle avoidance are included. Key components include the Navigation Stack, costmaps, global and local planners, odometry, and sensor data. ROS Navigation is modular and flexible since algorithms and sensors may be swapped. Open-source and community-driven, it encourages development and user support. It works for mobile robots, industrial automation, self-driving automobiles, and drones. ROS Navigation requires installation, robot and sensor configuration, navigation stack launch, and robot performance testing and refinement. Programming and robotics skills are needed to navigate complex ROS settings, however online training can help.

ROS Control is an essential part of ROS that coordinates hardware, software, and sensors in a robot's control loop. Hardware interface, controller manager, gearbox system, and safety and fault tolerance are its main functions. ROS software and actuators communicate seamlessly via the hardware interface. The controller manager hosts and manages many controllers for robot flexibility. Control behaviour is constant across joint types and control interfaces because to the gearbox system. ROS Control monitors sensor data for unusual behaviour and triggers safety measures with combined limits enforcement and emergency stop mechanisms. Open-source and community-driven, it encourages cooperation and improvement.

ROS Gazebo, a 3D robot simulator and Robot Operating System (ROS) emulator, is strong. It allows robot software development, hardware design and evaluation, learning algorithm training, and application prototype and validation. A realistic physics engine, rich sensor models, dynamic surroundings, and ROS tool integration are key. Follow the installation instructions, start ROS Gazebo, import your robot's 3D model, connect ROS nodes, then test and improve its performance. ROS Gazebo takes robotics and programming skills, but online tutorials can help you get started. Ask for more information or to start using ROS Gazebo.

Nach meiner Erfahrung ist Gazebo sehr speicherhungrig. Deshalb ist die Simulation von mehreren Robotern oftmals schwierig und langsam. Als Alternative dazu kann man auch gut die ROS Bridge zu ISAAC SIM von nvidia nutzen.

The Robot Operating System (ROS) MoveIt software helps robots plan, execute, and monitor manipulation operations. Motion planning, reverse kinematics, collision checking, grip planning, and control interface are key features. Standards, modularity, flexibility, scalability, open-source, community-driven, and simpler development are ROS MoveIt benefits. It streamlines robot arm and sensor development, supports multiple robot platforms, and encourages collaboration and progress. Choose the right ROS MoveIt package for your robot platform, configure its kinematic model and sensor integration, set up the motion planning scenario, plan and execute manipulation jobs, and monitor and improve performance in real time.

ROS TF/TF2 is a critical part of ROS1 and ROS2. It simplifies a lot of complicated tasks behind the scenes and allows developers to worry about the core algorithm rather than interpolating/extrapolating transforms and matching them based on timestamps.

I am surprised that this project is for ROS and not ROS2.An overall presentation of ROS2 which I found in the official documentation must be shared more.Also the incompatibilities between ros2 versions , Ubuntu versions and Python versions must be shared more.Difficulty of setting up the ROS2 environment is discouraging a lot of ppl.