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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

Training and testing robots using Isaac Lab

In this section, we will briefly discuss the learning process with Isaac Sim and Isaac Lab.

Isaac Lab architecture

Figure 15.6 shows the architecture of the model’s training and deployment and highlights its major building blocks.

Figure 15.6: Isaac Lab architecture (source: https://isaac-sim.github.io/)

Figure 15.6: Isaac Lab architecture (source: https://isaac-sim.github.io/)

Here are the major components of training and testing using Isaac Lab and Isaac Sim:

  • Asset Input: Isaac Sim and Isaac Lab use Universal Scene Description (USD) [10] as a file format for representing 3D robots and environments. In ROS 2, we used URDF/xacro for the robot model. Isaac Sim offers conversion tools to USD from URDF, MJCF, XML, etc. Importing robot and environment assets into Isaac Lab is the first step in the workflow.
  • Creating Configuration: After creating the assets as input, we have to create 2 configuration classes in Python:
    • Asset Configuration: In this class, we can...
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