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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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Toc

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

Introduction to Gazebo Sim

We have already discussed the importance of robotic simulation in robot development. When considering robot simulators, we have multiple options available. Some of the popular choices are Gazebo [1], Webots [2], Isaac Sim [3], Coppelia Sim [4], PyBullet [5], MujoCo [6], Unity [7], and Player/Stage [8].

Why do we focus on Gazebo Sim in this chapter? The main reasons are that it is quite popular, has a strong community, is compatible with most PC configurations, features an excellent ROS 2 interface, and offers good tutorials. It has decent physics and rendering features, but not superior to other simulators. Moreover, it is free and open source.

Let’s dive into Gazebo and explore how to create engaging simulations using it.

The Gazebo project provides a free and open-source robot simulator, development libraries, and cloud services to simplify simulation. There are two main versions of the Gazebo simulator: Gazebo Classic [9] and Gazebo...

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