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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

Simulating a robot using Gazebo Sim

Here is an example of a Gazebo simulation that does not use ROS 2 components. You can find the SDF file in Chapter05/moving_robot.sdf. The SDF file format is very similar to URDF. Both are used to represent the 3D robot model. SDF is the format for simulation in Gazebo. To interface ROS 2 and Gazebo, we usually convert the URDF/Xacro files to SDF format and start the simulation.

The example sdf file represents a differential drive robot. To start the simulation, you can open a terminal, switch the path to the sdf file path, and execute the following command:

gz sim moving_robot.sdf

We can mention the sdf file and the gz sim command to start the simulation. After seeing the Gazebo Sim window, press the Play button in the bottom-left corner to start the simulation. Figure 5.5 shows the simulation output of the above command.

Figure 5.5: Gazebo Sim with differential drive robot simulation

Figure 5.5: Gazebo Sim with differential drive robot simulation

Gazebo GUI

The GUI we...

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