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

This chapter covered implementing key ROS 2 concepts using the rclcpp library for C++. It introduced ROS 2 actions, comparing them to services, highlighting that actions are more suited for long-running tasks with feedback and cancellation capabilities.

The chapter also discussed parameters and how they can be used to configure nodes using YAML files for flexibility. Additionally, it covered the creation of ROS 2 launch files to manage multiple nodes efficiently, and how to build a ROS 2 workspace. The rclcpp client library (C++) was introduced, allowing users to implement nodes.

The chapter also discussed different types of ROS 2 node (non-composable, composable, and lifecycle nodes). It explained how nodes communicate using DDS, offering various QoS configurations to ensure reliability and efficiency. The chapter also touched on building custom interfaces and messages, managing ROS parameters, and setting up DDS/Zenoh and ROS domain ID configurations for better node...

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