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

View More author details

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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Which ROS 2 distribution to choose

Before you install ROS 2, it’s important to know which distribution you need to use. To make that decision, you first need to understand a bit more about what ROS 2 distributions are, and what specificities each one has.

What is a ROS 2 distribution?

ROS 2 is a project in continuous development, constantly receiving new features or improvements to existing ones.

A distribution is simply a freeze in the development at some given point to create a stable release. With this, you can be sure that the core packages for one given distribution will not have any breaking changes. Without distributions, it would be impossible to have a stable system, and you would need to update your code constantly.

Every year, a new ROS 2 distribution is released on May 23. This day corresponds to World Turtle Day. As you will be able to observe, all ROS distributions have a turtle as a logo; there’s a mobile robot platform named TurtleBot and even...