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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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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 BTs

BTs are a modular and hierarchical framework designed to manage complex behaviors. Originally developed in the gaming industry to control the actions of non-player characters (NPCs), BTs have gained popularity in robotics due to their flexibility, reusability, and ability to handle dynamic and unpredictable environments. By providing a structured approach to organizing and executing behaviors, BTs are particularly well-suited for complex robotic systems.

In contrast, FSMs offer another common method for managing robotic behaviors. An FSM models a system’s behavior using a set of states and transitions, with the robot residing in one specific state at any given time and transitioning to another state when certain conditions or events occur. FSMs are straightforward and intuitive, making them ideal for modeling simple and well-defined tasks. However, as tasks become more complex, FSMs become increasingly challenging to manage due to the rapid growth in the...

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