I have been learning to program in ROS 2 with the Create3 robot. While simulation is available and seems to be the suggested learning mode, I prefer to deal with reality while I am learning right from the start by developing my code with a physical robot.
Additionally, it seems most folks slap a LIDAR on their robot and quickly learn to use mapping/localization/navigation. I wanted to explore the capabilities built into the Create3 robot. I have always felt a robot should have self-protection and a wall-follow ability built in. The Create3 offers topics, services, and actions providing a great ROS 2 learning platform.
I documented my journey to a “Safe Wander Program Using The Create3 IR Intensity Sensors” on the Create3 Discussions GitHub Forum