You're reading from ROS 2 from Scratch Get started with ROS 2 and create robotics applications with Python and C++

Product type Paperback

Published in Nov 2024

Publisher Packt

ISBN-13 9781835881408

Length 380 pages

Edition 1st Edition

Concepts

Robotics

Author (1):

Edouard Renard

Preface

1. Part 1:Getting Started with ROS 2

2. Chapter 1: Introduction to ROS 2 – What Is ROS 2? FREE CHAPTER

3. Chapter 2: Installing and Setting Up ROS 2

4. Chapter 3: Uncovering ROS 2 Core Concepts

5. Part 2: Developing with ROS 2 – Python and C++

6. Chapter 4: Writing and Building a ROS 2 Node

7. Chapter 5: Topics – Sending and Receiving Messages between Nodes

8. Chapter 6: Services – Client/Server Interaction between Nodes

9. Chapter 7: Actions – When Services Are Not Enough

10. Chapter 8: Parameters – Making Nodes More Dynamic

11. Chapter 9: Launch Files – Starting All Your Nodes at Once

12. Part 3: Creating and Simulating a Custom Robot with ROS 2

13. Chapter 10: Discovering TFs with RViz

14. Chapter 11: Creating a URDF for a Robot

15. Chapter 12: Publishing TFs and Packaging the URDF

16. Chapter 13: Simulating a Robot in Gazebo

17. Chapter 14: Going Further – What To Do Next

18. Index

19. Other Books You May Enjoy

Prerequisites for starting with ROS 2

To get started with ROS and this book, there are a few things you need to know.

It is best that you have some knowledge of the following:

Linux command line: Since we’ll be using Ubuntu, being familiar with Linux is mandatory. You don’t need to be an expert—you just need to know the basics. Many tools in ROS 2 involve the command line, so knowing how to open a Terminal and write basic commands will help you tremendously.
Python programming: The two most common languages for ROS are Python and C++. Python is easier to get started with and allows you to prototype things faster. Hence, this is the language we will use for all detailed explanations. You need to know Python basics, and object-oriented programming (OOP) is a good plus as ROS 2 is heavily using OOP everywhere.
Optional: C++ programming. Even if the focus of the book is on Python, I still wanted to include C++ code for...