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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

Understanding the DIY mobile robot

The objective of this section is to introduce the basic components that are useful for building a tiny mobile robot. Let’s start by discussing the hardware of the robot, which must be properly connected to ensure the control of the wheels and the sensors. The main brain of the robot is the onboard computer, the Raspberry Pi. The Raspberry Pi [1] is a widely popular board for prototyping and cost-effective system development. Its appeal lies not only in its affordability, compact size, and versatility but also in its general-purpose input/output (GPIO) pins, which enable direct interaction with external devices such as sensors, motors, LEDs, and more.

By leveraging the Raspberry Pi’s built-in GPIO pins, there’s no need for an additional microcontroller (such as an Arduino) to manage the robot’s actuators. Numerous similar robotics platforms have been built using this approach, with many project examples available online...

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