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Mastering ROS 2 for Robotics Programming

You're reading from   Mastering ROS 2 for Robotics Programming Design, build, simulate, and prototype complex robots using the Robot Operating System 2

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Product type Paperback
Published in Jul 2025
Publisher Packt
ISBN-13 9781836209010
Length 576 pages
Edition 4th Edition
Concepts
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Authors (2):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
Jonathan Cacace Jonathan Cacace
Author Profile Icon Jonathan Cacace
Jonathan Cacace
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Table of Contents (22) Chapters Close

Preface
1. Part I: ROS 2 Programming and Simulation
2. Introduction to ROS 2 FREE CHAPTER 3. Getting Started with ROS 2 Programming 4. Implementing ROS 2 Concepts 5. Working with Robot 3D Modeling in ROS 2 6. Simulating Robots in a Realistic Environment 7. Part II: ROS 2 Applications: Navigation, Manipulation, and Control
8. Controlling Robots Using the ros2_control Package 9. Implementing ROS 2 Applications Using BehaviorTree.CPP 10. ROS 2 Navigation Stack: Nav2 11. Robot Manipulation Using MoveIt 2 12. Working with ROS 2 and Perception Stack 13. Part III: Advanced Applications and Machine Learning
14. Aerial Robotics and ROS 2 15. Designing and Programming a DIY Mobile Robot from Scratch 16. Testing, Continuous Integration, and Continuous Deployment with ROS 2 17. Interfacing Large Language Models with ROS 2 18. ROS 2 and Deep Reinforcement Learning 19. Implementing ROS 2 Visualization and Simulation Plugins 20. Other Books You May Enjoy
21. Index

Setting up Isaac Lab and Isaac Sim in Ubuntu 24.04

In this section, we will discuss installing RL frameworks like NVIDIA Isaac Lab and Isaac Sim in Ubuntu 24.04 using Docker. Before setting this up, let’s look at the basics of these two frameworks.

What is Isaac Sim and Isaac Lab?

Isaac Sim and Isaac Lab are interconnected software developed by NVIDIA for robot simulation and robot learning.

Isaac Sim [6] is a high-fidelity simulator compared to Gazebo, which we saw in an earlier chapter. It is built on the NVIDIA Omniverse platform [7], and it provides photorealistic rendering and precise physics simulations. The simulator supports many robots, such as robotic arms and wheeled, legged, and humanoid robots. It also supports many sensors, like LIDAR, depth cameras, etc.

Figure 15.3 shows the Isaac Sim UI with multiple robots in the simulation.

Figure 15.3: NVIDIA Isaac Sim

Figure 15.3: NVIDIA Isaac Sim

The simulator also supports various robotics applications, such as SLAM (Simultaneous...

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