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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

Configuring Nav2 and Slam Toolbox for your robot

This section shows how to create a ROS 2 package to implement autonomous navigation for our robot using Nav2. The package mainly contains launch and parameter files for starting and configuring Nav2 nodes. It can be found in the Chapter08/rosbot_nav2_bringup folder.

The rosbot navigation package contains the following files:

Figure 8.10: rosbot navigation 2 package structure

Figure 8.10: rosbot navigation 2 package structure

You can find a set of launch files in the launch folder: nav2.launch.py, which starts the Nav2 nodes, slam_online_async.launch.py and slam_online_sync.launch.py for mapping, and slam_nav2.launch.py for mapping in conjunction with navigation. In the maps folder, we can see a saved map of a hospital environment. Following the launch files, the next important part of the package is the params folder. It contains parameters for the AMCL node, Nav2 nodes, and Slam Toolbox. Configuring the Nav2 stack involves setting these parameters. We have observed...

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