Mastering ROS 2 for Robotics Programming - Fourth Edition

In this fourth edition, master ROS 2 by creating robotics software applications that integrate the latest technologies, like Generative AI and reinforcement learning, to build your custom robot

All formats include a free PDF and an invitation to the Embedded System Professionals community

Key Features:

- Get a solid understanding of ROS 2 core concepts and features from scratch

- Design, simulate, and prototype robotic applications using ROS 2, C++, Python, and Gazebo

- Gain hands-on experience with the latest technologies like GenAI and reinforcement learning, integrated with ROS 2 Jazzy

- Purchase of the print or Kindle book includes a free PDF eBook

Book Description:

The rising demand for advanced robotics software has made proficiency in frameworks like ROS 2 essential for engineers and enthusiasts alike.

Lentin Joseph, co-founder of RUNTIME Robotics, and Jonathan Cacace, PhD in robotics, help you grasp the foundational concepts and practical applications in this comprehensive fourth edition updated to cover the latest LTS release from 2024-ROS 2 Jazzy. Starting with a solid introduction to ROS 2, including core components and tools, the chapters get you ready to start programming and using its key features confidently. Building on this, the book focuses on 3D robot modeling and simulation with the new Gazebo Sim, supported by ROS 2 controllers. You'll explore high-level features such as Nav2 for navigation and MoveIt 2 for manipulation, which are crucial for developing advanced systems. You'll also dive into aerial robotics with ROS 2 and learn how to build real-world robots using Micro-ROS. The concluding chapters cover advanced topics like CI/CD workflows, interfacing ROS 2 with large language model (LLM) agents for intelligent planning, and applying deep reinforcement learning for autonomy.

By the end of this book, you'll have a strong foundation in ROS 2, along with the skills needed to build sophisticated, real-world robotic applications.

What You Will Learn:

- Explore ROS 2 architecture, DDS, and communication interfaces in depth

- Simulate various robots using Gazebo and ROS 2

- Master Nav2 and MoveIt 2 in ROS 2

- Explore ros2_control and Perception

- Build and program a real mobile robot from scratch using Raspberry Pi board and ROS 2

- Build LLM-based AI agents in ROS 2

- Implement reinforcement learning applications in ROS 2, NVIDIA Isaac Lab, and Isaac Sim

Who this book is for:

If you are a robotics enthusiast, researcher, or software professional looking to advance your skills in ROS 2, this book is for you. ROS developers who wish to explore the advanced features of ROS 2 will also find this book helpful. Basic knowledge of ROS, GNU/Linux, and C++, as well as Python programming concepts is necessary to get started with this book.

Table of Contents

- Introduction to ROS 2

- Getting Started with ROS 2 Programming

- Implementing ROS 2 Concepts

- Working with Robot 3D Modeling in ROS 2

- Simulating Robots in a Realistic Environment

- Controlling Robots Using the ros2_control Package

- Implementing ROS 2 Applications Using BehaviorTree dot CPP

- ROS 2 Navigation Stack: Nav2

- Robot Manipulation Using MoveIt 2

- Working with ROS 2 and Perception Stack

- Aerial Robotics and ROS 2

- Designing and Programming a DIY Mobile Robot from Scratch

- Testing, Continuous Integration, and Continuous Deployment with ROS 2

- Interfacing Large Language Models with ROS 2

- ROS 2 and Deep Reinforcement Learning

- Implementing ROS 2 Visualization and Simulation Plugins