A Guide to ROS2 is an open-source tutorial book to learn Robot Operating System 2 (ROS 2). It started at the Rensselaer Center for Open Source (RCOS) under Professor Kimberly Oakes. I collaborated with my team to write chapters covering core ROS 2 concepts, including nodes, topics, launch files, and debugging tools. The project is being worked on by current RCOS students.