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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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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

Controlling a UAV using ROS 2

We are now ready to implement our first ROS 2 application to control a simulated UAV. As previously mentioned, the interface between Gazebo and ROS 2 mimics that of a real autopilot. This means the program presented in this chapter will work the same way with a real robot. The goal of this example is to demonstrate how to perform basic UAV operations. Specifically, we will implement the following functions:

  • Arm: Start the propellers spinning.
  • Disarm: Stop the propellers from spinning.
  • Take off: Lift the UAV to an altitude of 5 meters at its current position.

Additionally, during these operations, the ROS 2 system will monitor the UAV’s local position in Cartesian space. After takeoff, the user will be able to specify a target position for the UAV to reach. The UAV will then plan and execute a time-sampled trajectory from its current position to the specified goal. To achieve this, we need to select the OFFBOARD control...

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