Gh0stlyKn1ght
Robotics • Security • Autonomy
Phase 1 · Project 03

ROS2 Basics + Networking

Time to get fluent with ROS2 networking: nodes, topics, services, DDS traffic, and how to see what’s really happening. I want to be confident before layering more autonomy.

← Phase 1 Research Log

Plan
Scope
What I'm focusing on
  • Nodes, topics, services
  • rqt_graph, ros2 topic echo, ros2 bag
  • DDS traffic fundamentals
  • Simple message spoofing in simulation
  • Observability (what’s happening under the hood)
Cost

$75–100

Why it matters

ROS2 is the backbone for the rest of my work. If I can see and shape the network layer, I can debug and secure everything else.

Logs
Planned
Log 1: ROS2 environment setup + first nodes

Capture my setup, first nodes, and topic echoes. Keep the screenshots so I can spot regressions later.

Log 2: DDS inspection + replay/spoofing experiment

Inspect DDS traffic and try a small replay/spoof in sim. Note what alarms, what’s quiet, and how I’d harden it.