Search icon CANCEL
Subscription
0
Cart icon
Your Cart (0 item)
Close icon
You have no products in your basket yet
Save more on your purchases! discount-offer-chevron-icon
Savings automatically calculated. No voucher code required.
Arrow left icon
Explore Products
Best Sellers
New Releases
Books
Videos
Audiobooks
Learning Hub
Newsletter Hub
Free Learning
Arrow right icon
timer SALE ENDS IN
0 Days
:
00 Hours
:
00 Minutes
:
00 Seconds
Arrow up icon
GO TO TOP
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

Arrow left icon
Product type Paperback
Published in Jul 2025
Publisher Packt
ISBN-13 9781836209010
Length 576 pages
Edition 4th Edition
Concepts
Arrow right icon
Authors (2):
Arrow left icon
Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
Jonathan Cacace Jonathan Cacace
Author Profile Icon Jonathan Cacace
Jonathan Cacace
Arrow right icon
View More author details
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

Summary

In this chapter, we discussed a fundamental problem of all robotic systems: how to control the motors of the robot. The main solution offered by ROS 2 is provided from the ros2_control framework, a collection of packages allowing developers to directly contact the robot hardware. ROS 2 already comes with a series of controllers: both basic controllers that directly forward a desired command to a hardware interface, and something more complex, such as the differential drive controller (diff_drive_controller) that transforms the input data to desired commands for the joints.

Another possibility offered by the ros2_control framework is the possibility of implementing a custom controller to perform specific actions. This topic was discussed with the implementation of a controller moving the joints of a simulated robot in Gazebo.

In this chapter, we discussed the possibility of controlling a robot from a low-level point of view; in the next chapter, we will see how to...

lock icon The rest of the chapter is locked
Register for a free Packt account to unlock a world of extra content!
A free Packt account unlocks extra newsletters, articles, discounted offers, and much more. Start advancing your knowledge today.
Unlock this book and the full library FREE for 7 days
Get unlimited access to 7000+ expert-authored eBooks and videos courses covering every tech area you can think of
Renews at $19.99/month. Cancel anytime