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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

Summary

In this chapter, we explored the different capabilities of MoveIt 2, a motion planning framework integrated with ROS 2 that allows developers to implement manipulation operations with industrial arms. MoveIt 2 already supports different models of popular robots, however, new robots can be configured to properly work with it thanks to an intuitive setup assistant that drives the user to create all the necessary configuration files to plan and execute desired motion trajectories.

We started the chapter by discussing the main concepts of MoveIt 2 and then showed how to configure a new simulated robot to properly work with it. Finally, we showed how to create C++ ROS 2 nodes to implement plans and execute obstacle-free motion trajectories, which is the main usage of industrial manipulators.

In the next chapter, we will move on to how to use ROS 2 to implement perception algorithms, implement image elaboration algorithms, and work with 3D point cloud data.

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