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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

Configuring ROS 2 DDS/Zenoh and ROS_DOMAIN_ID

Let’s start by configuring DDS for your ROS 2 installation. So, you may ask why we need to change DDS rather than using the default one. The answer is each DDS is different. Some DDS implementations work best for some applications. So, to get better results, it is better to change the DDS.

Let’s explore how to change the DDS of your ROS 2 installation.

Configuring ROS 2 DDS

Setting a new DDS is straightforward. First, select the DDS you want to use in a robot, and then install the DDS implementation packages if they are not already installed.

We will look at the installations of different DDSs here:

  • Install Fast DDS: You can use the following command to install Fast DDS:
    sudo apt install -y ros-jazzy-rmw-fastrtps-cpp
    

After installing Fast DDS, you can export the RMW_IMPLEMENTATION variable to rmw_fastrtps_cpp. You can do this by adding the following line to the end of the...

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