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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

Motion planning using the move_group ROS 2 wrapper

In this section, we will see how to program the robot’s motion using the move_group wrapper implemented in C++. The first step is to create another ROS package that has the MoveIt packages as dependencies. You can get an existing panda_moveit_control package from the code provided with this book, or you can download it from the following repository: https://github.com/PacktPublishing/Mastering-ROS-2/tree/main/Chapter09.

To create the package from scratch instead, use the following command:

ros2 pkg create panda_moveit_control --dependencies moveit_ros_planning_interface rclcpp

In the first example, we will use the move group wrapper to execute a motion in the joint space. This means the desired robot configuration is set, specifying the value of each single joint of the robot. This motion has the advantage of being simpler to implement and more computationally efficient because it directly plans in the robot’...

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