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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

This chapter explained how to use the ROS 2 Navigation Stack, called Nav2, for autonomous robot navigation. Nav2 helps robots move from one place to another by planning paths, avoiding obstacles, and controlling movement. The chapter introduced Nav2, its installation on ROS 2 Jazzy, and how to set it up with Slam Toolbox to create maps of the environment. It covered key components like localization, path planning, behavior trees, and lifecycle management, which help in making navigation smooth and efficient. The chapter also included practical steps to configure Nav2 for a robot and demonstrated its use in a hospital scenario for medicine delivery during COVID-19. Additionally, it explained how to develop navigation applications using C++ and behavior trees to automate robot movement. The chapter included guides on installing, configuring, and running Nav2 in simulations and on real robots.

In the next chapter, we will see how to work with a robotic arm using ROS 2 and...

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