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

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Table of Contents (20) Chapters

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

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Running your first node

To understand what a node is, we will simply run one and make some observations using some of the most useful ROS 2 tools.

For this chapter, I recommend having a few open terminals. You can start a few terminal windows and arrange them on your screen or run Terminator (see Extra tools for ROS development in Chapter 2) with at least three tabs. To clear any confusion when running a command, I will also tell you in which terminal to run the command (Terminal 1, Terminal 2, etc.).

Starting a node from the terminal with ros2 run

Let’s discover your first ROS 2 tool, and probably the most important one: the ros2 command-line tool. You will use this tool all the time in your future projects.

ros2 comes with a lot of functions. We will explore some of them in this chapter, and more in the following ones. There is no need to remember all the commands: just use them to build an understanding now, and later you will easily be able to retrieve them from...