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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

Simulating a robot using ROS 2 and Gazebo

Interfacing Gazebo Sim and ROS 2 involves controlling the simulated robot from ROS 2 using ROS topics, services, actions, and parameters, and subscribing to various types of robot sensor data from Gazebo as ROS 2 topics.

In this section, we will discuss how to simulate the URDF robot model that we designed in Chapter 4. The name of the robot we designed was rrbot, which is a robotic arm. We will discuss how to simulate and control this movement in Gazebo Sim. After discussing the rrbot simulation, we will see how to simulate wheeled robots in Gazebo Sim.

Integration of ROS 2 and Gazebo Sim

When you install Gazebo by installing the ros-${ROS_DISTRO}-ros-gz package, it will install a series of ROS 2 packages that integrate ROS 2 and Gazebo Sim. The ros-gz package is a meta package, meaning it doesn’t have any specific files, but it can install a set of dependent packages for ROS 2-Gazebo integration. Here is a list of packages...

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