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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

Integrating BTs with ROS 2 actions

The execution of a BT should never be blocked. If certain nodes within the tree perform checks during their tick to modify the robot’s actions and react to unexpected situations, the tree’s flow must remain uninterrupted. So, how can we allow complex task execution, such as commanding the robot to reach a given location or perform a manipulation task? The general way to do this is to implement the core functions with long-term executions as a ROS 2 server. The client is implemented in the tree nodes. Based on the result of the ROS 2 action, the node in which the client is implemented can return RUNNING (the action is not completed), SUCCESS (the action returns a successful state), or FAILURE (the action returns a failure state). Let’s discuss this case in the following example.

The steps to implement a similar tree are the same as already seen in the previous examples. The source code discussed here is included in the ROS...

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