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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

Building a ROS 2 package

Packages are basic software units in ROS 2. They are organized in a ROS 2 workspace, where we can build the packages and run the nodes. Creating a ROS 2 workspace is very easy; we can create any number of ROS workspaces in our OS. The main purpose of creating a ROS workspace is to organize a set of packages. For example, if we are working on a navigation project, we can keep all the navigation-related packages inside this workspace. This is a good practice to get into to organize the robot packages.

There are two types of workspaces in ROS 2. First is the base workspace, which refers to the ROS 2 installation itself. We are adding the source /opt/ros/<distro>/setup.bash command in the ~/.bashrc file to source the base workspace. If the base workspace is not sourced, the core ROS packages and tools will not be visible in the terminal. The next type of workspace is an overlay workspace. These are user-created workspaces. Once created, you can build...

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