ROS (Robotic Operating System) is an OS introduced in 2007 as an opensource library to make robot programming a lot easier. By using separate packages per functionality a programmer can easily integrate the needed sensors, actuator and features. The community around this platform is grown vastly and with the extra features in the new ROS2 environment launched this spring. All the disadvantages of ROS are taken care of. As ROS was primarily developed for the classical robot. A lot of the code and functionalities have analogies with autonomous driving. In the tutorial, these analogies will be handled and clarified on a practical use case.