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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

Summary

We discussed three simulators in this chapter and learned how to create a simulation from a ROS URDF robot model.

This chapter delved into the significance of robotic simulation in robot development processes, which enables the validation and refinement of robot designs in a virtual environment. It highlighted the integration of ROS 2 and Gazebo Sim for creating advanced simulations using URDF models, leveraging plugins for physics, visualization, and control.

The architectural advantages of Gazebo Sim, such as modularity, extensibility, and seamless ROS 2 compatibility, were contrasted with Gazebo Classic, emphasizing the former’s suitability for scalable and modern robotics projects. After discussing the features, we saw how to implement multiple robot simulations in Gazebo. We also saw how to run the simulation using Docker.

Additionally, the chapter introduced Webots, with its built-in IDE and multi-language support, and NVIDIA Isaac Sim, offering photorealistic...

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